Trajectory Planning to Optimize Base Disturbance of 7-DOF Free-Floating Space Manipulator Based on QPSO

2015 ◽  
pp. 281-293
Author(s):  
Tongtong Hu ◽  
Jianxia Zhang ◽  
Qiang Zhang
Keyword(s):  
Trajectory Planning ◽  
Space Manipulator ◽  
Base Disturbance

A Precision Compensation Method for Space Manipulator Trajectory Planning Based on Particle Filter

2015 ◽  
Vol 742 ◽  
pp. 485-490
Author(s):  
Yi Fan Wang ◽  
Han Xu Sun ◽  
Gang Chen ◽  
Qing Xuan Jia
Keyword(s):  
Particle Filter ◽  
State Space ◽  
Real Time ◽  
Process Parameters ◽  
Trajectory Planning ◽  
Control Variable ◽  
Compensation Method ◽  
Statistical Process ◽  
Space Manipulator ◽  
Space Equation

A precision compensation method for space manipulator trajectory planning is presented for improving the accuracy during the execution of a task. First, the control process is described by using a state space equation. Second, process parameters are estimated in real-time using particle filter. Then, the system’s real time operational reliability is calculated based on the state space equation and process parameters. Finally, a control variable compensation strategy is given based on the theory of Statistical Process Control. Simulations show that this method effectively improves the accuracy and stability of space manipulator control system.

Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot

2019 ◽  
Vol 63 (3) ◽  
pp. 1147-1160 ◽  
Author(s):  
Yaen Xie ◽  
Xiande Wu ◽  
Takaya Inamori ◽  
Zhen Shi ◽  
Xinzhu Sun ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Space Robot ◽  
Optimal Trajectory Planning ◽  
Base Disturbance
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