Space manipulator path planning method for reducing base attitude disturbance
A space manipulator and path planning technology, applied in the field of aerospace control, can solve the problems of simulation effect time interval influence, large storage space, limited ability to adjust the attitude of the base, etc., to improve computing efficiency, solution accuracy, and computing efficiency. And the effect of high solution accuracy and saving computing time
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment 1
[0032] The embodiments of the present invention are carried out on the premise of the technical solutions of the present invention, and detailed implementation methods and specific operation processes are given, but the protection scope of the present invention is not limited to the following embodiments.
[0033] First, parameterize the joint angle function of the manipulator, and the parameterized joint angle function is:
[0034]
[0035] in, are polynomial coefficients, are defined as:
[0036] ,
[0037] , for the first The maximum and minimum values for the joint angle. Will the constraints , substitute expression to get the polynomial coefficients:
[0038] ,
[0039]
[0040] Substituting the polynomial coefficients into the expression for the joint angle function, contains only one unknown parameter , as long as it is determined , the trajectory of the joint motion of the manipulator is determined. Carry out differential ...
PUM
Abstract
Description
Claims
Application Information
- R&D Engineer
- R&D Manager
- IP Professional
- Industry Leading Data Capabilities
- Powerful AI technology
- Patent DNA Extraction
Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.
© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap