A free-flying space robot will accomplish manufacturing, assembling and repair instead of astronauts in the future unmanned space flight hbecause of its flexible maneuverability in space. This paper presents a task pl...A free-flying space robot will accomplish manufacturing, assembling and repair instead of astronauts in the future unmanned space flight hbecause of its flexible maneuverability in space. This paper presents a task planning algorithm of retrieving invalid satellite for free-fiving space robot. First we discuss kinematics model and deduct cinematics equations of dual-arm space robot. Then the process of retrieving an invalid satellite, which is divided into eleven motion procedures. At the same time, we have developed a free-flying space robot task planning simulation system and the experimental results show that this algorithm is feasible and correct.展开更多
The motion planning problem of a free flying space robot (FFSR) is investigated and from the attitude disturbance characteristics of a multi arm FFSR, a new method based on the fixed attitude restricted (FAR) Gene...The motion planning problem of a free flying space robot (FFSR) is investigated and from the attitude disturbance characteristics of a multi arm FFSR, a new method based on the fixed attitude restricted (FAR) Generalized Jacobian Matrix of a multi arm FFSR is proposed to enable the coordinated motion of all the other arms while one arm is tracing a given path so that there is no disturbance on the body, and the problem of attitude disturbance with an operating multi arm FFSR is thereby better resolved. The simulation run with a dual arm FFSR system verifies the effectiveness of this algorithm.展开更多
文摘A free-flying space robot will accomplish manufacturing, assembling and repair instead of astronauts in the future unmanned space flight hbecause of its flexible maneuverability in space. This paper presents a task planning algorithm of retrieving invalid satellite for free-fiving space robot. First we discuss kinematics model and deduct cinematics equations of dual-arm space robot. Then the process of retrieving an invalid satellite, which is divided into eleven motion procedures. At the same time, we have developed a free-flying space robot task planning simulation system and the experimental results show that this algorithm is feasible and correct.
文摘The motion planning problem of a free flying space robot (FFSR) is investigated and from the attitude disturbance characteristics of a multi arm FFSR, a new method based on the fixed attitude restricted (FAR) Generalized Jacobian Matrix of a multi arm FFSR is proposed to enable the coordinated motion of all the other arms while one arm is tracing a given path so that there is no disturbance on the body, and the problem of attitude disturbance with an operating multi arm FFSR is thereby better resolved. The simulation run with a dual arm FFSR system verifies the effectiveness of this algorithm.
