文章详细信息 关键词： 自由浮动空间机器人;;增广变量法;;自适应跟踪控制 [gap=679]Keywords: Space-based robot system; Augmentation approach; Adaptive control
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In this paper, the control of coordinated motion of spacecraft attitude and the end-effector of a free-floating space-based robot system is discussed.
本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。
Combining the relationship of the linear momentum conversation and the Lagrange approach, the full-controlled dynamic equation of space-based robot system with dual-arms were analysed and established.
利用拉格朗日方法并结合系统动量守恒关系，分析、建立了漂浮基双臂空间机器人完全能控形式的系统动力学方程。
The paper proposes a concept space-based subject crawler structure, which is used to a rapid, effective subject information search robot system.
采用了基于概念空间的主体爬虫结构，构造了一个快速、有效的主题信息搜索机器人系统。
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