scholarly journals Pre-impact trajectory planning for minimizing base attitude disturbance in space manipulator systems for a capture task

2015 ◽  
Vol 28 (4) ◽  
pp. 1199-1208 ◽  
Author(s):  
Long Zhang ◽  
Qingxuan Jia ◽  
Gang Chen ◽  
Hanxu Sun
2015 ◽  
Vol 742 ◽  
pp. 485-490
Author(s):  
Yi Fan Wang ◽  
Han Xu Sun ◽  
Gang Chen ◽  
Qing Xuan Jia

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.


Sign in / Sign up

Export Citation Format

Share Document