The Real-Time Control of Space Robot by Computed Torque Control Law

Bing  Shao; En Tao Yuan; Zhong Hai Yu

doi:10.4028/www.scientific.net/AMR.225-226.978

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 225-226The Real-Time Control of Space Robot by Computed...

The Real-Time Control of Space Robot by Computed Torque Control Law

Abstract:

Lie groups and Lie algebras are used to research the dynamics and computed torque law control of free flying space robot systems. First the adjoint transformations and adjoint operators of Lie groups and Lie algebras are discussed. Then the free flying base systems are transformed to fixed base systems. The inverse dynamics and forward dynamics are described with Lie groups and Lie algebras. The computed torque control law is used to simulate with the results of dynamics. The simulation results show that with the method the dynamical simulation problems of space robot can be solved quickly and efficiently. This built the foundation of real-time control based on dynamics. The computed torque control law has good performance.

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Periodical:

Advanced Materials Research (Volumes 225-226)

Pages:

978-981

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.225-226.978

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Online since:

April 2011

Authors:

Bing Shao, En Tao Yuan, Zhong Hai Yu

Keywords:

Computed Torque Control Law, Dynamic, Lie Algebra, Lie Groups, Space Robots

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