Optimization of Trajectory Tracking Control in Task Space for Dual-arm Space Robot
For trajectory tracking control of a dual-arm space robot with uncontrolled base position and controlled base attitude in task space， an optimal control method based on state dependent Riccati equation （SDRE） is proposed. Firstly， based on the kinematics equation and fully driven dynamics equation o...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2020-10-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.10.012 |
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