The dynamic and robust control of space robot during capture operation


Qiuhuang Dong;Li Chen;


<正>In this paper,base on the multi-body dynamic theory,the dynamic equations of a free floating space robot are derived during capturing a free motion target.The dynamic equations of the space robot are derived with the Lagrange formulation,and the dynamic equations of the free motion target are derived with the NewtonEuler formulation.The combination equations are obtained based




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