Design and implementation of the coordinated manipulation and motion control of double-arms space robots in simulation system
WANG Zhou-yi1, LIU Chang-an1, LIU Ji-xing2
1. School of Computer Science and Technology, North China Electric Power University, Beijing 102206,China; 2. ZTE Corporation, Shenzhen Guangdong 518057, China
Abstract��A method of setting up a experimental platform of loop coordinated manipulation and motion control for double-arms free flying space robots was presented. The FFSR(Free-Flying Space Robots) experimental platform frame in robotic simulation was created by the combination of the (VC++) 6.0,OpenGL,Matlab and Matcom. With the implementation of a resolved motion rate control algorithm, the dynamic process of the robots manipulating the target object coordinately was depicted, and the curves of the position and the angle of the spacecraft were shown, too. The results above verify the effectiveness of the algorithm and the methodology.
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WANG Zhou-yi, LIU Chang-an, LIU Ji-xing. Design and implementation of the coordinated manipulation and motion control of double-arms space robots in simulation system. Journal of Computer Applications, 2005, 25(05): 1034-1035.
2005, Vol. 25 
