Kinematical Research of Free-Floating Space-Robot System at Position Level Based on Screw Theory
المؤلفون المشاركون
Wang, Yong
Liao, Ying
Gong, Kejie
Liang, Xiaojun
المصدر
International Journal of Aerospace Engineering
العدد
المجلد 2019، العدد 2019 (31 ديسمبر/كانون الأول 2019)، ص ص. 1-13، 13ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2019-06-02
دولة النشر
مصر
عدد الصفحات
13
الملخص EN
Kinematics of a free-floating space-robot system is a fundamental and complex subject.
Problems at the position level, however, are not considered sufficiently because of the nonholonomic property of the system.
Current methods cannot handle these problems simply and efficiently.
A novel and systematical modeling approach is provided; forward and inverse kinematics at the position level are deduced based on the product of exponentials (POE) formula and conservation of linear momentum.
The whole deduction process is concise and clear.
More importantly, inertial tensor parameters are not introduced.
Then, three situations with different known variables are mainly studied.
Due to the complexity of inverse kinematical equations, a numerical method is proposed based on Newton’s iteration method.
Two calculation examples are given, a dual-arm planar model and a single-arm spatial model; both forward and inverse kinematical solutions are given, while inverse kinematical results are compared with simulation results of Adams.
The results indicate that the proposed methods are quite accurate and efficient.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Wang, Yong& Liang, Xiaojun& Gong, Kejie& Liao, Ying. 2019. Kinematical Research of Free-Floating Space-Robot System at Position Level Based on Screw Theory. International Journal of Aerospace Engineering،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1156840
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Wang, Yong…[et al.]. Kinematical Research of Free-Floating Space-Robot System at Position Level Based on Screw Theory. International Journal of Aerospace Engineering No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1156840
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Wang, Yong& Liang, Xiaojun& Gong, Kejie& Liao, Ying. Kinematical Research of Free-Floating Space-Robot System at Position Level Based on Screw Theory. International Journal of Aerospace Engineering. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1156840
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1156840
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