Base attitude disturbance minimizing trajectory planning for a dual-arm space robot

Space robots are playing an increasingly important role in on-orbit services. Affected by the coupling of dynamics, the base attitude of a space robot will deflect with the motion of its manipulators, which leads to unfavorable effect to the success of the mission. The trajectory planning problem fo...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part G, Journal of aerospace engineering Journal of aerospace engineering, 2022-03, Vol.236 (4), p.704-721
Hauptverfasser:	Zhou, Qing, Liu, Xiaofeng, Cai, Guoping
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Attitudes Computer simulation End effectors Manipulators Orbital mechanics Particle swarm optimization Robot arms Robot dynamics Robots Space robots Trajectory optimization Trajectory planning
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