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Mobile Robots -Towards New Applications 2008 Part 14

Tham khảo tài liệu 'mobile robots -towards new applications 2008 part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Attitude Compensation of Space Robots for Capturing Operation 511 6. Conclusion In this chapter we studied the dynamic balance control of multi-arm free-floating space robot. According to unique characteristics of free-floating space robot we presented the dynamics coupling representing the robot arm and base motion and force dependency. Based on the dynamics coupling and measurement method we proposed the concept of dynamic balance control the use of the proposed concept is of significance in planing the balance arm s motion for compensate the attitude disturbance of space base. Based on the dynamic balance control concept we proposed the coordinated control algorithm for the mission arm and the balance arm. During the operation of mission arm the balance arm can easily compensate the disturbance due to motion of the mission arm. The performance of the coordinated control algorithm is verified by the simulation studies. The simulation results showed that the proposed dynamic balance control method could be used practically. 7. References D. Zimpfer and P. Spehar 1996 . STS-71 Shuttle Mir GNC Mission Overview Advances in the Astronautical Sciences Vol.93 American Astronautical Society pp.441-460 San Diego CA I. Kawano et al. 1998 . First Result of Autonomous Rendezvous Docking Technology Experiment on NASDA s ETS-VII Satellite IAF-98-A.3.09 49th Internatioanl Astronautical Congress M. Oda 1999 . Space Robot Experiments on NASDA s ETS-VII Satellite-Preliminary Overview of the Experiment Result Proceedings of IEEE International Conference on Robotics and Automation M. Oda 2000 . Experience and Lessons Learned from the ETS-VII Robot Satellite Proceedings of IEEE International Conference on Robotics and Automation Noriyasu Inaba Mitsushige Oda 2000 . Autonomous Satellite Capture by a Space Robot Proceedings of IEEE International Conference on Robotics and Automation 2000. Steven Dubowsky Miguel A. Torres 1991 . Path Planning for Space Manipulator to Minimize Spacecraft