Trajectory planning of a manipulator of a space robot using a neural network

被引：0

作者：

Mineta, T ^{[1
]}

Qiu, J ^{[1
]}

Tani, J ^{[1
]}

机构：

[1] Tohoku Univ, Grad Sch, Sendai, Miyagi 980, Japan

来源：

RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS | 1997年

关键词：

D O I：

10.1109/ROMAN.1997.646949

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In space, the movement of the space robot is subjected to the law of angular momentum conservation as a nonholonomic constraint Hence, different trajectories of a manipulator result in different final states in inertial space. To ensure safe and reliable operations of a space robot, it is necessary to plait the trajectory of the manipulator mounted on a space robot before the operations. In this paper, the trajectory planning method using a neural network for the manipulator of a space robot is proposed. The trajectory obtained by this method is compared with that obtained by analytical method for the approximate model in which the mass of the manipulator is neglected. The method is applied to the exact model in which the mass of the manipulator can not be neglected.

引用

页码：34 / 39

页数：4

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