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Subsection Evolution in GA for Trajectory Planning of a Space Manipulator : Evoluzione con GA per la pianificazione di traiettoria di un manipolatore spaziale, in: International Journal of Advanced Robotic Systems
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Autor Zeng, Cen; Wei, Xiaopeng; Zhang, Qiang
Publicat  InTech Open Access Publisher, 2013
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Abstract A free‐floating space manipulator has
outstanding advantages and wide application
prospects compared with other categories. This paper
discusses the concepts and categories of space robots
and introduces the current trajectory‐planning
algorithm for a space robot and its ground simulation
system in the main countries of the world. This paper
also constructs a system model for the space
manipulator system and gives the kinematic equation
of such a manipulator system. A dynamic equation of
the manipulatorʹs joints is also developed by using
Lagrange equations. Continuous Cartesian trajectory
planning is also studied in this paper based on
differential kinematical equations and momentum
conservation equations. Finally, this paper presents the
subsection evolution algorithm in GA to realize the
trajectory tracking of a free‐floating space manipulator
and a simulation about the free floating space
manipulator and its corresponding analyses are
given.
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no fulltext found International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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Documents: International Journal of Advanced Robotic Systems
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PDF FaviconPDF  Subsection Evolution in GA for Trajectory Planning of a Space Manipulator
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Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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