Features of Manipulator Dynamics Modeling into Account a Movable Platform

Artemenko, Yu. N.; Karpenko, Anatoly; Belonozhko, Pavel P.

doi:10.1007/978-3-319-27547-5_17

Cited by 11 publications

(5 citation statements)

References 2 publications

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“…Example of problem solution of control synthesis of orientable and lifting bodies relative motion, ensuring move of orientable body to necessary absolute position is pursued using simulator received in [1]. Type of controlled movement under consideration is possible as normal behavior mode being of applied interest.…”

Section: Resultsmentioning

confidence: 99%

“…Then as it is shown in [1], in view of load known relative motion wðtÞ, we deduce absolute angular motion u 1 ðtÞ of foundation using integration of Eq. (2) taking into account (3) In (4) constant of integration is determined by system initial position and configuration…”

Section: Problem Statementmentioning

confidence: 99%

“…As shown in [1], it is necessary to distinguish cases of presence and lack of system initial angular momentum.…”

Section: Problem Statementmentioning

confidence: 99%

“…In [1] independent dynamic equation of relative motion (motion of orientable body 1 relative to carrying body 2) is obtained where…”

Section: Problem Statementmentioning

confidence: 99%

“…assurance of required angular position of orientable body and supposing expedient its implementation at the expense of mutual displacement of orientable (telescope) and carrying (spacecraft) bodies by means of manipulator, let us consider model problem formulated in [1].…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Synthesis of Control of Hinged Bodies Relative Motion Ensuring Move of Orientable Body to Necessary Absolute Position

Artemenko

Karpenko

Belonozhko

2017

Smart Electromechanical Systems: The Central Nervous System

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Purpose: Taking into account evolution trends of space-system engineering, on solution of tasks concerned with control systems elaboration, making of Robot Central Nervous System (RCNS) for perspective space-purpose robotic systems, we can talk about urgency of problems of brake-release mode analysis, which specificity is determined by functionality of systems under consideration and orbital external environment. The paper considers characteristic features of controlled motion of space system "movable platform-manipulator-payload", which moves in inertial space under the action of the hinged control in conditions free of external forces. Results: Using mathematical model obtained in Artemenko et al. (Smart electromechanical systems. Springer International Publishing, Switzerland, pp. 177-190, 2016, [1]) the paper examines an example of task solution of control synthesis of relative movement of orientable and lifting body, providing setting of orientable body in desired absolute position. Practical importance: There are perspective space systems, for which the considered type of controlled motion is possible as normal mode of operation being of applied interest.

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Section: Resultsmentioning

confidence: 99%

Section: Problem Statementmentioning

confidence: 99%

“…As shown in [1], it is necessary to distinguish cases of presence and lack of system initial angular momentum.…”

Section: Problem Statementmentioning

confidence: 99%

“…In [1] independent dynamic equation of relative motion (motion of orientable body 1 relative to carrying body 2) is obtained where…”

Section: Problem Statementmentioning

confidence: 99%

Section: Introductionmentioning