Survey of modeling,planning, and ground verification of space robotic systems |
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Authors: | Wenfu Xu Bin Liang Yangsheng Xu |
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Institution: | 1. School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, P.R. China;2. School of Automotive and Transportation Engineering, Shenzhen Polytechnic, Shenzhen 518055, China;3. The State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P.R. China |
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Abstract: | Space robotic systems are expected to play an increasingly important role in future space activities. Nevertheless, dynamics modeling and motion planning of a space robot are much more complex than those of a fixed-base robot, due to the dynamic coupling between the manipulator and its base. On the other hand, in order to assure the success of on-orbital missions, many experiments are required to verify the key algorithms on the ground before the space robot is launched. In this paper, the main research achievements on dynamics modeling, path planning, and ground verification are reviewed, and future studies are recommended. Firstly, we summarize the essential modeling concepts, and deduce the kinematics and dynamics equations of a space robot. Secondly, the main motion planning approaches are discussed. Then, different ground verification systems, including the air-bearing table, neutral buoyancy, airplane flying, free-falling motion, suspension system, and hybrid system, are introduced. Finally, the future research trends are forecasted. |
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