Affiliation:
1. Beijing University of Posts and Telecommunication
Abstract
A precision compensation method for space manipulator trajectory planning is presented for improving the accuracy during the execution of a task. First, the control process is described by using a state space equation. Second, process parameters are estimated in real-time using particle filter. Then, the system’s real time operational reliability is calculated based on the state space equation and process parameters. Finally, a control variable compensation strategy is given based on the theory of Statistical Process Control. Simulations show that this method effectively improves the accuracy and stability of space manipulator control system.
Publisher
Trans Tech Publications, Ltd.
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