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- W2778618606 abstract "For better understanding of tethered space robot systems to be used in the future onorbit service, the attitude control problem of targets captured by tethered space robots was investigated. Firstly, based on the quaternion theory, the governing equations for the combined body of the target and the tethered space robot were constructed. Secondly, a projected RungeKutta method was developed for the issue of constraint systems, and this method is explicit and can preserve the norm of quaternions. Finally, a numerical example was given to validate the proposed model and the numerical method, where 3 kinds of control strategies were compared in terms of control effectiveness and energy consumption." @default.
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- W2778618606 date "2017-01-01" @default.
- W2778618606 modified "2023-10-15" @default.
- W2778618606 title "基于四元数方法的绳系机器人姿态控制" @default.
- W2778618606 doi "https://doi.org/10.21656/1000-0887.380168" @default.
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