The distributed control system of a light space manipulator

被引：2
|
作者：
Jia, Hongliang [1 ]
Zhuang, Weimin [1 ]
Bai, Yuxin [1 ]
Fan, Peng [1 ]
Huang, Qiang [1 ]
机构：
[1] Beijing Inst Technol, Sch Aerosp Sci & Engn, Intelligent Robot Inst, Beijing 100081, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年
关键词：
index space manipulator; distributed control;
D O I：
10.1109/ICMA.2007.4304131
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To build a space station, a manipulator is indispensable, especially a light space manipulator with high stiffness is necessary for spacecrafts. In this paper, a distributed control system is presented to such a manipulator for the purpose of reliability, compactness and light weight. A main controller is located inside the spacecraft and six joint controllers are placed inside the joints. All the controllers communicate with each other through RS422 serial data bus, and the manipulator is controlled via the main controller. The effectiveness of this distributed control system is partly confirmed by the ground experiments.
引用
收藏
页码：3525 / 3530
页数：6
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