Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure
Joint Authors
Yuan, Bonan
Fu, Yingzhuo
Chen, Gang
Li, Lanpu
Fei, Junting
Source
International Journal of Aerospace Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-07
Country of Publication
Egypt
No. of Pages
17
Abstract EN
Aiming at a space manipulator with a joint-locked failure, a halt optimization strategy is proposed in this paper.
Firstly, a halt configuration optimization model (HCOM) is constructed, to select an optimal configuration where the kinematic ability of the manipulator is the best.
Secondly, considering the constraint of joint running parameters and the disturbance torque of the base, we construct and solve the halt motion optimization model (HMOM), which can achieve a steady halt and ensure the safety of the manipulator.
The correctness and effectiveness of the proposed strategy in this paper are verified with a 7-DOF space manipulator.
This strategy firstly puts forward the idea of halt configuration optimization and realizes the minimum global disturbance torque of the base in the halt process.
American Psychological Association (APA)
Chen, Gang& Li, Lanpu& Fu, Yingzhuo& Yuan, Bonan& Fei, Junting. 2020. Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure. International Journal of Aerospace Engineering،Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1168243
Modern Language Association (MLA)
Chen, Gang…[et al.]. Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure. International Journal of Aerospace Engineering No. 2020 (2020), pp.1-17.
https://search.emarefa.net/detail/BIM-1168243
American Medical Association (AMA)
Chen, Gang& Li, Lanpu& Fu, Yingzhuo& Yuan, Bonan& Fei, Junting. Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure. International Journal of Aerospace Engineering. 2020. Vol. 2020, no. 2020, pp.1-17.
https://search.emarefa.net/detail/BIM-1168243
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1168243