Inverse-model neuro-control of free-floating space robot with rigid manipulators and rigid-flexible manipulators

被引：0
|
作者：
Hong, Zai-Di [1 ]
Yun, Chao [1 ]
Chen, Li [2 ]
机构：
[1] Robotics Institute, Beihang University, Beijing 100083, China
[2] College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China
来源：
Yuhang Xuebao/Journal of Astronautics | 2007年 / 28卷 / 06期
关键词：
Flexible manipulators - Neural networks;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A robotic neuro-control that connects the neural network and PI control to construct a hybrid scheme of robotic inverse-model learning control has been proposed for trajectory tracking control free-floating space robot with rigid manipulators and ridid-flexible manipulators, and the working principles of control are demonstrated. Finally, a simulation of control scheme for a free-floating space robot with two-manipulator was made. The simulation results have shown that the proposed inverse-model learning neuro-control possesses great speed of convergence and higher tracking precision, and can provide an effective control for free-floating space robot.
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页码：1510 / 1514
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