{"title":"控制带有效载荷的自由飞行太空操纵机器人","authors":"V. Yu. Rutkovskii, V. M. Glumov","doi":"10.1134/s0005117923100090","DOIUrl":null,"url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>The control modes of a free-flying space manipulation robot during the transportation and installation of a building element on a large space structure are considered. It is proposed to save the working fluid of the gas-jet engines of the robot body when moving along the trajectory by using the mobility of a manipulator with electromechanical drives for the angular stabilization of the mechanical “robot–transported element” system. Conditions ensuring the stable motion of the manipulator in the working area when installing the element on the assembled structure are obtained. A stability domain is determined to select the initial configuration of the manipulator before installing the element and its admissible change during installation. The control algorithms are designed based on the principle of dynamic feedback systems.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.6000,"publicationDate":"2024-02-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Control of a Free-Flying Space Manipulation Robot with a Payload\",\"authors\":\"V. Yu. Rutkovskii, V. M. Glumov\",\"doi\":\"10.1134/s0005117923100090\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<h3 data-test=\\\"abstract-sub-heading\\\">Abstract</h3><p>The control modes of a free-flying space manipulation robot during the transportation and installation of a building element on a large space structure are considered. It is proposed to save the working fluid of the gas-jet engines of the robot body when moving along the trajectory by using the mobility of a manipulator with electromechanical drives for the angular stabilization of the mechanical “robot–transported element” system. Conditions ensuring the stable motion of the manipulator in the working area when installing the element on the assembled structure are obtained. A stability domain is determined to select the initial configuration of the manipulator before installing the element and its admissible change during installation. The control algorithms are designed based on the principle of dynamic feedback systems.</p>\",\"PeriodicalId\":55411,\"journal\":{\"name\":\"Automation and Remote Control\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.6000,\"publicationDate\":\"2024-02-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Automation and Remote Control\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1134/s0005117923100090\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automation and Remote Control","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1134/s0005117923100090","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Control of a Free-Flying Space Manipulation Robot with a Payload
Abstract
The control modes of a free-flying space manipulation robot during the transportation and installation of a building element on a large space structure are considered. It is proposed to save the working fluid of the gas-jet engines of the robot body when moving along the trajectory by using the mobility of a manipulator with electromechanical drives for the angular stabilization of the mechanical “robot–transported element” system. Conditions ensuring the stable motion of the manipulator in the working area when installing the element on the assembled structure are obtained. A stability domain is determined to select the initial configuration of the manipulator before installing the element and its admissible change during installation. The control algorithms are designed based on the principle of dynamic feedback systems.
期刊介绍：
Automation and Remote Control is one of the first journals on control theory. The scope of the journal is control theory problems and applications. The journal publishes reviews, original articles, and short communications (deterministic, stochastic, adaptive, and robust formulations) and its applications (computer control, components and instruments, process control, social and economy control, etc.).
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