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author:

Dengfeng, Huang (Dengfeng, Huang.) [1] | Li, Chen (Li, Chen.) [2] (Scholars:陈力)

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EI Scopus

Abstract:

The dynamic control for coordinated motion of free-floating space manipulator system in joint space is discussed. According to the geometrical relationship and the linear momentum conservation law, the dynamic equations of space manipulator system are established through Lagrange equation of the second kind. Based on the above, a fuzzy wavelet neural network scheme is designed to control the base's attitude and the joint angle of manipulator to track desired trajectories synchronously in joint space. The control scheme needs neither linearly parameterize the dynamic equations of the system, nor know any dynamic parameters. Moreover, its network weight is learning by back propagation algorithm online so the training time is saved. Numerical simulations are presented to verify the feasibility and effectiveness of the proposed control scheme. Copyright © 2009 by ASME.

Keyword:

Backpropagation algorithms Design Equations of motion Fuzzy inference Fuzzy logic Fuzzy neural networks Manipulators Robotic arms Spacecraft equipment

Community:

  • [ 1 ] [Dengfeng, Huang]College of Mechanical Engineering, Fuzhou University, Fuzhou, Fujian, China
  • [ 2 ] [Li, Chen]College of Mechanical Engineering, Fuzhou University, Fuzhou, Fujian, China

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Source :

Year: 2010

Issue: PART C

Volume: 4

Page: 1725-1730

Language: English

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count:

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 2

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