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...

Full description

Bibliographic Details

Published in:	Jixie chuandong
Main Authors:	Shuo Li, Xixing Li, Yan Zhao
Format:	Article
Language:	Chinese
Published:	Editorial Office of Journal of Mechanical Transmission 2020-10-01
Subjects:	Attitude control Dual-arm space robot Task space State dependent Riccati equation（SDRE） Optimal trajectory tracking control
Online Access:	http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.10.012