Fault-tolerant analysis and control of SSRMS-type manipulators with single-joint failure

She Yu; Xu Wenfu; Su Haijun; Liang Bin; Shi Hongliang

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Fault-tolerant analysis and control of SSRMS-type manipulators with single-joint failure

机译：单关节故障SSRMS型机械手的容错分析与控制

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摘要

Several space manipulators, whose configurations are similar to that of the Space Station Remote Manipulator System (SSRMS, also called Canadarm2), are playing important roles in the construction and maintenance of the International Space Station. Working in the harsh orbital environment, they are at high risk of single joint failure. Fault-tolerant capability is critical for those manipulators to complete their on-orbital tasks.

机译：几种空间操纵器的配置与空间站远程操纵器系统（SSRMS，也称为Canadarm2）的结构相似，在国际空间站的建设和维护中发挥着重要作用。它们在恶劣的轨道环境中工作，极有可能发生单关节故障。容错能力对于这些机械手完成其在轨任务至关重要。

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来源
《Acta astronautica》 |2016年第maraaapra期|270-286|共17页
作者
She Yu; Xu Wenfu; Su Haijun; Liang Bin; Shi Hongliang;
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作者单位

Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China|Ohio State Univ, Dept Mech & Aerosp Engn, Columbus, OH 43210 USA;

Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China|Shenzhen Engn Lab Performance Robots Digital Stag, Shenzhen, Peoples R China;

Ohio State Univ, Dept Mech & Aerosp Engn, Columbus, OH 43210 USA;

Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China;

Ohio State Univ, Dept Mech & Aerosp Engn, Columbus, OH 43210 USA;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种 eng
中图分类
关键词
Space robot; Space manipulator; On-orbit servicing; Redundant manipulator; Single joint failure; Fault-tolerance;

机译：空间机器人;空间机械手;在轨维修;冗余机械手;单关节故障;容错;

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专利

1. Analytical and semi-analytical inverse kinematics of SSRMS-type manipulators with single joint locked failure [J] . Wenfu Xu, Yu She, Yangsheng Xu Acta astronautica . 2014,第1期

机译：单关节锁定失效的SSRMS型机械手的解析和半解析逆运动学
2. Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures [J] . Li Yuanchun, Zhou Fan, Zhao Bo Mathematical Problems in Engineering . 2015,第pta3期

机译：具有动态故障的可重构机械手基于动态输出反馈的主动分散容错控制
3. Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures [J] . YuanchunLi, FanZhou, BoZhao Mathematical Problems in Engineering: Theory, Methods and Applications . 2015,第2期

机译：具有动态故障的可重构机械手基于动态输出反馈的主动分散容错控制
4. Inverse kinematics of SSRMS-type manipulators with single joint locked failure [C] . She Yu, Xu Wenfu, Wang Zhiying, IEEE International Conference on Robotics and Biomimetics . 2013

机译：单关节锁定故障的SSRMS型机械手的逆运动学
5. Structural failure identification and control of the multi-module deployable manipulator system (MDMS). [D] . Wong, Ho Keung Kenneth. 2006

机译：多模块可部署机械手系统（MDMS）的结构故障识别和控制。
6. Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure [O] . Zonggao Mu, Liang Han, Wenfu Xu, -1

机译：单关节失效下空间机械臂的运动学分析与容错轨迹规划
7. Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure [O] . 2016

机译：单关节失效下空间机械臂的运动学分析与容错轨迹规划

Fault-tolerant analysis and control of SSRMS-type manipulators with single-joint failure

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