空间机器人

用Hopfield网络优化空间机器人的路径

Path planning for space robot by use of hopfield network

自由漂浮双臂空间机器人基于RBF神经元网络的关节运动自适应控制

Adaptive Control of Joint Motion of Free-Floating Space Robot System with Dual-Arms Based on RBF Neural Network

一种用VM建模方法的空间机器人逆运动学算法

Inverse kinematics algorithm for space robots using the virtual manipulator approach

本文是对空间机器人由地面站遥控操纵在空间抓物实验方案的仿真研究，它是在图形计算机工作站上用C语言编程实现的。

This paper provides simulation study for the project that arises when robots in space are tele-operated from ground stations . Et is programmed by C language at graphic-computer-workstation .

文中分别对一平面和空间机器人进行了实例计算，并和相关文献作了比较，结果表明：该误差分析模型是正确的，据此编制的Windows应用程序的计算结果是可靠的。

Comparing with documents , the simulation results of planar and spatial robots indicate : the error analytical model is feasible and Windows applied program is valid .

基于Vega的双臂空间机器人飞行及捕捉目标的轨迹规划仿真

Vega-based Trajectory Simulation for Dual-arm Space Robot to Fly and Capture an Object

以双自由飞行空间机器人协调操作系统的广义雅可比矩阵为基础，采用分解速度、计算力矩的方法结合PI控制方法完成系统的动力学协调控制。

Using the Generalized Jacobian Matrix of Two FFSR in coordinated manipulation tasks and resolved motion rate control and the PI method to achieving control of system with the dynamic coordinated operation .

提出了笛卡儿空间机器人连续路径（CP）轨迹规划方法，移动轨迹在笛卡儿坐标系中由1组参数方程说明。

A method for robot continuous path motion trajectories planning in cartesian space is presented . The motion trajectories are specified by a group of parameter equations in cartesian coordinates .

采用人工神经网络中的基本Hopfield网，实现了空间机器人的路径规划，解决了对两两给定通路的若干空间站点，空间机器人能顺序访问并最终返回起点的最短巡游路径问题。

A path planning for space robot is presented by using basic Hopfield network , which gives the solution of finding the shortest path for space robot to call on and return every space station .

本文使用ADAMS和MATLAB接口，建立了集三维实体设计、动力学建模、控制及可视化仿真于一体的虚拟空间机器人仿真环境，为空间机器人的动力学、控制仿真提供了新的研究方法。

Using cooperation of ADAMS and MATLAB , a virtual simulation environment is made , which combines planning and designing , dynamics modeling , controlling and visualization simulation in one . It provides a new method for dynamics and control of space robot .

控制器由一个PD反馈项和一个补偿动力学不确定性的非线性自适应反馈项构成，能够保证对期望关节轨迹的全局渐进跟踪，提高了空间机器人操作的适应性和安全性。

The controller consists of a PD feedback loop and a nonlinear adaptive feedback loop for compensating the uncertainties of dynamics , thus able to guarantee asymptotic tracking of the desired trajectory , and to improve the adaptability and safety of the space robot .

将VC++6.0、OpenGL、Matlab和Matcom四种软件融合起来，搭建FFSR（自由飞行空间机器人）系统实验平台；

The FFSR ( Free-Flying Space Robots ) experimental platform frame in robotic simulation was created by the combination of the ( VC + + ) 6.0 , OpenGL , Matlab and Matcom .

为此，针对空间机器人的非完整特性，提出了一个基于快速随机扩展树（RRT）算法的避碰运动规划算法。

In this paper , an obstacle avoidance motion planning algorithm based on rapidly-exploring random trees ( RRT ) is proposed to deal with this problem .

由于空间机器人末端安装的CCD相机具有较大的随机测量误差，因此，重新建立了包含随机测量噪声在内的新的误差模型，它考虑了机器人非几何参数误差&传动环节的回差。

On account of the CCD camera mounted on the spatial robot end possesses rather big random measured error , for this reason , a new model of error that includes random measurement error was rebuilt , and it takes the non-geometric parametric error-backlash of transmission links into consideration .

本文研究了自由飞行空间机器人（FFSR）关节驱动力矩的求解算法及在其基础上的捕捉目标控制算法。

This paper studies the computation algorithm of joint driven torque and the control algorithm to capture target for Free Flying Space Robots ( FFSR ) .

首先介绍了VC++6.0，OpenGL和MATLAB6.0三种软件各自特点；其次在各自特点的基础上，建立了基于三者相结合的自由飞行空间机器人仿真试验平台；

First , introduces characteristics of ( VC + + ) 6.0 , OpenGL and MATLAB 6.0 . Secondly , in the base of combination of ( VC + + ) 6.0 , OpenGL and MATLAB 6.0 , an experimental platform of free-flying space robot is created in robotic simulation .

本文基于假设模态法、La-grange方程和动量守恒原理，推导了一种自由浮动柔性双臂空间机器人协调操作刚性负载闭链系统的动力学模型。

Based on the assumption mode method , the Lagrange equation and the momentum conservation principle , the paper derived the dynamics model of a free-floating flexible dual-arm space robot that holds a rigid payload in a horizontal workspace .

自由飞行空间机器人通用运动学模型及其仿真

The general kinematic model and its simulation of free-flying space robot

空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

The robust adaptive control of coordinated motion of space-based robot system

空间机器人视觉伺服半物理仿真的原理与实现

Concept and realization of semi-physical simulation for space robotic visual servoing

冗余空间机器人最小姿态干扰运动控制

On motion control with minimum attitude disturbance for redundant space robots

非完整冗余空间机器人任务优先级姿态控制

Attitude control based on task priority for nonholonomic redundancy space robots

空间机器人协调控制与地面实验研究

Study on Coordinated Control and Its On-Ground Experiment for Space Robot

空间机器人地面试验系统建模与规划

Modeling and Programming of Space Robotics Based on Ground Experimental System

自由漂浮的空间机器人系统的动力学奇异特性分析及其运动规划

Dynamic singularity analysis and motion planning of free-floating space robot systems

具有柔性关节和柔性杆的空间机器人频率特性

On the frequency of spatial manipulators with flexible joints and links

空间机器人是发展最迅速的科研领域之一。

Space robot is among the fastest growing scientific research areas .

双臂空间机器人姿态控制的再生核解法

Reproducing Kernel Method for Attitude Control of the Dual-Arm Space Robot

双臂空间机器人末端惯性空间轨迹运动的非线性反馈控制

Trajectory Tracking Control in Inertia Space of Dual-Arm Space Robot System

飘浮式空间机器人路径规划的全局最优解析解

Analytic Solution of Global Path Planning for Space Free flying Robotics