Minimum Energy Demand Locomotion on Space Station
Joint Authors
Chung, Wing Kwong
Xu, Yangsheng
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-01-28
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
The energy of a space station is a precious resource, and the minimization of energy consumption of a space manipulator is crucial to maintain its normal functionalities.
This paper first presents novel gaits for space manipulators by equipping a new gripping mechanism.
With the use of wheels locomotion, lower energy demand gaits can be achieved.
With the use of the proposed gaits, we further develop a global path planning algorithm for space manipulators which can plan a moving path on a space station with a minimum total energy demand.
Different from existing approaches, we emphasize both the use of the proposed low energy demand gaits and the gaits composition during the path planning process.
To evaluate the performance of the proposed gaits and path planning algorithm, numerous simulations are performed.
Results show that the energy demand of both the proposed gaits and the resultant moving path is also minimum.
American Psychological Association (APA)
Chung, Wing Kwong& Xu, Yangsheng. 2013. Minimum Energy Demand Locomotion on Space Station. Journal of Robotics،Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-493447
Modern Language Association (MLA)
Chung, Wing Kwong& Xu, Yangsheng. Minimum Energy Demand Locomotion on Space Station. Journal of Robotics No. 2013 (2013), pp.1-15.
https://search.emarefa.net/detail/BIM-493447
American Medical Association (AMA)
Chung, Wing Kwong& Xu, Yangsheng. Minimum Energy Demand Locomotion on Space Station. Journal of Robotics. 2013. Vol. 2013, no. 2013, pp.1-15.
https://search.emarefa.net/detail/BIM-493447
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-493447