Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure
المؤلفون المشاركون
Sun, Hanxu
Jia, Qingxuan
Chen, Gang
Li, Tong
Zhang, Jian
المصدر
International Journal of Aerospace Engineering
العدد
المجلد 2016، العدد 2016 (31 ديسمبر/كانون الأول 2016)، ص ص. 1-14، 14ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2016-02-21
دولة النشر
مصر
عدد الصفحات
14
الملخص EN
Aiming at reducing joint velocity jumps caused by an unexpected joint-locked failure during space manipulator on-orbit operations without shutting down manipulator, trajectory optimization strategy considering the unexpectedness characteristics of joint-locked failure is proposed in the paper, which can achieve velocity jumps reduction in both operation space and joint space simultaneously.
In the strategy, velocity in operation space concerning task completion directly is treated as equality constraints, and velocity in joint space concerning motion performance is treated as objective function.
Global compensation vector which consists of coefficient, gradient of manipulability, and orthogonal matrix of null space is constructed to minimize the objective function.
For each particular failure time, unique optimal coefficient can be obtained when the objective function is minimal.
As a basis, a method for optimal coefficient function fitting is proposed based on a priori failure information (possible failure time and the corresponding optimal coefficient) to guarantee the unexpectedness characteristics of joint-locked failure.
Simulations are implemented to validate the efficiency of trajectory optimization strategy in reducing velocity jumps in both joint space and operation space.
And the feasibility of coefficient function is also verified in reducing velocity jump no matter when joint-locked failure occurs.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Jia, Qingxuan& Li, Tong& Chen, Gang& Sun, Hanxu& Zhang, Jian. 2016. Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure. International Journal of Aerospace Engineering،Vol. 2016, no. 2016, pp.1-14.
https://search.emarefa.net/detail/BIM-1105033
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Jia, Qingxuan…[et al.]. Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure. International Journal of Aerospace Engineering No. 2016 (2016), pp.1-14.
https://search.emarefa.net/detail/BIM-1105033
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Jia, Qingxuan& Li, Tong& Chen, Gang& Sun, Hanxu& Zhang, Jian. Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure. International Journal of Aerospace Engineering. 2016. Vol. 2016, no. 2016, pp.1-14.
https://search.emarefa.net/detail/BIM-1105033
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1105033
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر