A Precision Compensation Method for Space Manipulator Trajectory Planning Based on Particle Filter

Yi Fan Wang; Han Xu Sun; Gang Chen; Qing Xuan Jia

doi:10.4028/www.scientific.net/AMM.742.485

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 742A Precision Compensation Method for Space...

A Precision Compensation Method for Space Manipulator Trajectory Planning Based on Particle Filter

Abstract:

A precision compensation method for space manipulator trajectory planning is presented for improving the accuracy during the execution of a task. First, the control process is described by using a state space equation. Second, process parameters are estimated in real-time using particle filter. Then, the system’s real time operational reliability is calculated based on the state space equation and process parameters. Finally, a control variable compensation strategy is given based on the theory of Statistical Process Control. Simulations show that this method effectively improves the accuracy and stability of space manipulator control system.

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Periodical:

Applied Mechanics and Materials (Volume 742)

Pages:

485-490

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.742.485

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Online since:

March 2015

Authors:

Yi Fan Wang*, Han Xu Sun, Gang Chen, Qing Xuan Jia

Keywords:

Particle Filter, Precision Compensation, Space Manipulator, Statistical Process Control

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* - Corresponding Author

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