Explicit-Time Trajectory Tracking for a State-Constraint Continuum Free-Floating Space Robot with Smooth Joint-Path and Low Input

Explicit-Time Trajectory Tracking for a State-Constraint Continuum Free-Floating Space Robot with Smooth Joint-Path and Low Input

For the problem of large joint angular velocity and high input in the trajectory planning and control of robots, an explicit-time trajectory tracking for a state-constraint continuum free-floating space robot with smooth joint-path and low input is proposed. Employing the piecewise constant curvatur...

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Bibliographic Details
Main Authors: Rui Tang, Yicheng Liu, Jialing Yang, Xiang Ma, Wen Yan
Format: Article
Language:English
Published: MDPI AG 2025-03-01
Series:Applied Sciences
Subjects:
continuum space robot
explicit time
sliding mode control
trajectory planning
trajectory tracking
Online Access:https://www.mdpi.com/2076-3417/15/5/2730
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