A5072706324- Robot Manipulation and Learning
- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Planetary Science and Exploration
- Teleoperation and Haptic Systems
- Adaptive Dynamic Programming Control
- Space Satellite Systems and Control
- Adaptive Control of Nonlinear Systems
- Fault Detection and Control Systems
- Prosthetics and Rehabilitation Robotics
Nanjing University of Science and Technology
2024
Beijing Institute of Technology
2018-2023
Since space intelligent robots are not restricted by physiological conditions, it is an attractive choice for the development of automation technology to use them exploration and utilization. It currently key direction major powers over world. This paper first investigates robotic manipulators humanoid robot systems station applications reviews theories methods achieve large-range stable motion dexterous manipulation. Then, on-orbit satellite maintenance reviewed, related technologies...
On-orbit assembly has become a crucial aspect of space operations, where the manipulator frequently and directly interacts with objects in complex process. The traditional control limitations adapting to diverse tasks is vulnerable vibration, leading failure. To address this issue, we propose human-like variable admittance method based on damping characteristics human arm. By collecting velocity contact force arm operations assembly, analyze change establish active compliance model S-type...
This article mainly analyzes the movement principle of human upper limb from practical point view. According to structural characteristics and functional requirements upper-limb, a scheme assist robot is designed. Using link coordinate system method, simplified diagram upper-body was established, kinematics model constructed. The studied for forward inverse kinematics, derived Jacobian matrix. graphic method used analyze workspace effect size robot's length rod on illustrated. Finally,...