Analysis of dynamics of a floating-base N-DOF space manipulator system

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	Analysis of dynamics of a floating-base N-DOF space manipulator system
	Chen ZC(陈正仓); Leng YQ(冷雨泉); Luo HT(骆海涛)
	2016
会议名称	2nd International Conference on Control, Automation and Robotics, ICCAR 2016
会议日期	April 28-30, 2016
会议地点	Hong Kong
关键词	floating-base manipulator kinematics dynamics coupling
页码	233-237
通讯作者	陈正仓
中文摘要	This paper firstly provides a whole modeling process of floating-base space manipulator systems (FBSMS) and proposes a general formula of dynamical equation of two dimensional (2-D) and three dimensional (3-D) systems, which can help us obtain a better understanding of dynamical structure of FBSMS. Then, the fundamental reason why coupled dynamics phenomenon is raised, and decoupling analysis procedure of dynamics between a manipulator and a floating base is given. Finally, a contrast test is conducted to prove that motion of manipulator will decrease positioning accuracy of the end-effector in floating base case.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4673-9859-6
WOS记录号	WOS:000386520000044
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/18755]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Chen ZC,Leng YQ,Luo HT. Analysis of dynamics of a floating-base N-DOF space manipulator system[C]. 见:2nd International Conference on Control, Automation and Robotics, ICCAR 2016. Hong Kong. April 28-30, 2016.