منابع مشابه
Space Shuttle Rtos Bayesian Network
With shrinking budgets and the requirements to increase reliability and operational life of the existing orbiter fleet, NASA has proposed various upgrades for the Space Shuttle that are consistent with national space policy. The cockpit avionics upgrade (CAU), a high priority item, has been selected as the next major upgrade. The primary functions of cockpit avionics include flight control, gui...
متن کاملKinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure
A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it to lose one degree of freedom (DOF), hence reducing its movement ability. In this paper, the key problems related to the fault-tolerant including...
متن کاملTrajectory Planning in Joint Space for Flexible Robots with Kinematics Redundancy
The paper focuses on the problem of trajectory planning of flexible redundant robot manipulators (FRM) in joint space. Compared to irredundant flexible manipulators, FRMs present additional possibilities in trajectory planning due to their kinematics redundancy. A trajectory planning method to minimize vibration of FRMs is presented based on Genetic Algorithms (GAs). Kinematics redundancy is in...
متن کاملTrajectory Planning in Dynamic Workspaces: a `state-time Space' Approach Trajectory Planning in Dynamic Workspaces: a `state-time Space' Approach
| This paper addresses trajectory planning in dynamic workspaces, i.e. trajectory planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like the concept of connguration space which is a tool to formulate path planning proble...
متن کاملMethods of Trajectory Tracking for Flexible Joint Space Manipulators
This paper presents a comparative study of four control strategies for a flexible joint space manipulator. The considered control strategies consist in the classical Slotine and Li algorithm, a simple proportional derivative controller, a singular perturbation-based controller and a nonlinear backstepping controller. All control methodologies are assessed in numerical simulations for endpoint p...
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ژورنال
عنوان ژورنال: Journal of Korean Institute of Intelligent Systems
سال: 2014
ISSN: 1976-9172
DOI: 10.5391/jkiis.2014.24.1.052