Chaos Suppression Control for Freefloating Space Redundant Manipulator during Avoidance Singularity

doi:10.3969/j.issn.1006-2475.2012.02.016

Computer and Modernization ›› 2012, Vol. 198 ›› Issue (2): 56-60.doi: 10.3969/j.issn.1006-2475.2012.02.016

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Chaos Suppression Control for Freefloating Space Redundant Manipulator during Avoidance Singularity

YUAN Wen-chong¹, WANG Cong-qing², WU He-lei¹, LIU Xiu-chao²

1.College of Information Engineering, Nanchang University, Nanchang 330029, China；2.College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2011-10-25 Revised:1900-01-01 Online:2012-02-24 Published:2012-02-24

Abstract

Abstract: A Generalized Jacobian Matrix of the freefloating space redundant manipulator is derived. The kinematics manipulable measuring for avoidance singularity is used as a target function based on gradient projection. Avoidance singularity planning is realized by joint space selfmotion in null space. Numerical computing results show the selfmotion is chaos state, which can be suppressed by state delayed feedback control. The joint movement is to stabilize a cyclic trajectory during avoidance singularity motion planning.

Key words: redundant space manipulator, motion planning, avoidance singularity, chaotic motion control

CLC Number:

TP273

YUAN Wen-chong;WANG Cong-qing;WU He-lei;LIU Xiu-chao. Chaos Suppression Control for Freefloating Space Redundant Manipulator during Avoidance Singularity[J]. Computer and Modernization, 2012, 198(2): 56-60.

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Chaos Suppression Control for Freefloating Space Redundant Manipulator during Avoidance Singularity

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