Optimization of Trajectory Tracking Control in Task Space for Dual-arm Space Robot

For trajectory tracking control of a dual-arm space robot with uncontrolled base position and controlled base attitude in task space， an optimal control method based on state dependent Riccati equation （SDRE） is proposed. Firstly， based on the kinematics equation and fully driven dynamics equation o...

Ausführliche Beschreibung

Bibliografische Detailangaben

Hauptverfasser:	Shuo Li, Xixing Li, Yan Zhao
Format:	Artigo
Sprache:	Chinês
Veröffentlicht:	Editorial Office of Journal of Mechanical Transmission 2020-10-01
Schriftenreihe:	Jixie chuandong
Schlagworte:	Attitude control Dual-arm space robot Task space State dependent Riccati equation（SDRE） Optimal trajectory tracking control
Online-Zugang:	http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.10.012
Tags:	Tag hinzufügen Keine Tags, Fügen Sie das erste Tag hinzu!