Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure
Aiming at a space manipulator with a joint-locked failure, a halt optimization strategy is proposed in this paper. Firstly, a halt configuration optimization model (HCOM) is constructed, to select an optimal configuration where the kinematic ability of the manipulator is the best. Secondly, consider...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/8811433 |
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| _version_ | 1850208586234331136 |
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| author | Gang Chen Lanpu Li Yingzhuo Fu Bonan Yuan Junting Fei |
| author_facet | Gang Chen Lanpu Li Yingzhuo Fu Bonan Yuan Junting Fei |
| author_sort | Gang Chen |
| collection | DOAJ |
| description | Aiming at a space manipulator with a joint-locked failure, a halt optimization strategy is proposed in this paper. Firstly, a halt configuration optimization model (HCOM) is constructed, to select an optimal configuration where the kinematic ability of the manipulator is the best. Secondly, considering the constraint of joint running parameters and the disturbance torque of the base, we construct and solve the halt motion optimization model (HMOM), which can achieve a steady halt and ensure the safety of the manipulator. The correctness and effectiveness of the proposed strategy in this paper are verified with a 7-DOF space manipulator. This strategy firstly puts forward the idea of halt configuration optimization and realizes the minimum global disturbance torque of the base in the halt process. |
| format | Article |
| id | doaj-art-9648f3c463b24964a374ca79c5c6895e |
| institution | OA Journals |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-9648f3c463b24964a374ca79c5c6895e2025-08-20T02:10:13ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742020-01-01202010.1155/2020/88114338811433Halt Optimization Strategy for a Space Manipulator with a Joint-Locked FailureGang Chen0Lanpu Li1Yingzhuo Fu2Bonan Yuan3Junting Fei4School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaAiming at a space manipulator with a joint-locked failure, a halt optimization strategy is proposed in this paper. Firstly, a halt configuration optimization model (HCOM) is constructed, to select an optimal configuration where the kinematic ability of the manipulator is the best. Secondly, considering the constraint of joint running parameters and the disturbance torque of the base, we construct and solve the halt motion optimization model (HMOM), which can achieve a steady halt and ensure the safety of the manipulator. The correctness and effectiveness of the proposed strategy in this paper are verified with a 7-DOF space manipulator. This strategy firstly puts forward the idea of halt configuration optimization and realizes the minimum global disturbance torque of the base in the halt process.http://dx.doi.org/10.1155/2020/8811433 |
| spellingShingle | Gang Chen Lanpu Li Yingzhuo Fu Bonan Yuan Junting Fei Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure International Journal of Aerospace Engineering |
| title | Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure |
| title_full | Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure |
| title_fullStr | Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure |
| title_full_unstemmed | Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure |
| title_short | Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure |
| title_sort | halt optimization strategy for a space manipulator with a joint locked failure |
| url | http://dx.doi.org/10.1155/2020/8811433 |
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