Pre-impact Trajectory Planning of Nonredundant Free-Floating Space Manipulator

2020 ◽  
Author(s):  
Qi Zhang ◽  
Guohua Kang ◽  
Jiaqi Wu ◽  
Han Zhang
Keyword(s):  
Trajectory Planning ◽  
Space Manipulator

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.

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