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Singularity Robust Path Planning for Real Time Base Attitude Adjustment of Free-floating Space Robot 被引量:3
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作者 Cheng Zhou Ming-He Jin +3 位作者 Ye-Chao Liu Ze Zhang Yu Liu Hong Liu 《International Journal of Automation and computing》 EI CSCD 2017年第2期169-178,共10页
This paper presents a singularity robust path planning for space manipulator to achieve base (satellite) attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will sa... This paper presents a singularity robust path planning for space manipulator to achieve base (satellite) attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority reaction null-space control method is applied to achieve the primary task of adjusting attitude and secondary task of accomplishing end-effector task. Furthermore, the algorithm singularity is eliminated in the proposed algorithm compared with conventional reaction null-space algorithm. And the singular value filtering decomposition is introduced to dispose the dynamic singularity, the unit quaternion is also introduced to overcome representation singularity. Hence, a singularity robust path planning algorithm of space robot for base attitude adjustment is derived. A real time simulation system of the space robot under Linux/RTAl (realtime application interface) is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online base attitude adjustment of space robot by the proposed algorithm. 展开更多
关键词 Space robot path planning base attitude adjustment task priority reaction null-space.
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An Adjustable Pure Dispersion Slope Compensating-Module without Center Wavelength Shift Based on Strain-Chirped Fiber Bragg Gratings
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作者 Chee S. Goh Sze Y. Set K. Kikuchi 《光学学报》 EI CAS CSCD 北大核心 2003年第S1期131-132,共2页
We demonstrate an adjustable pure dispersion slope compensating-module based on strain-chirped fiber Bragg gratings. The center wavelength of the module is preserved while the pure dispersion slope is tuned.
关键词 FBG be on An Adjustable Pure Dispersion Slope Compensating-Module without Center Wavelength Shift based on Strain-Chirped Fiber Bragg Gratings of in DS
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