[1] YOSHIDA K, HASHIZUME K, ABIKO S. Zero reaction maneuver: flight validation with ETS-VII space robot and extension to kinematically redundant arm[C]∥Proceedings of IEEE International Conference on Robotics and Automation. Seoul, South Korea: IEEE, 2001:441-446. [2] FRIEND R B. Orbital express program summary and mission overview[J]. Proceedings of the SPIE, 2008, 6958: 695803-1-695803-11. [3] BERND S. Automation and robotics in the German space program-unmanned on-orbit servicing (OOS) & the TECSAS mission[J]. Cerebrovascular Diseases, 2003, 16(3):272-279. [4] REINTSEMA D, THAETER J, RATHKE A, et al. DEOS-the German robotics approach to secure and de-orbit malfunctioned satellites from low earth orbits[C]∥Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space. Sapporo, Japan: Springer-Verlag, 2010, [5] SMITH P H, TAMPPARI L, ARVIDSON R E, et al. Introduction to special section on the Phoenix Mission: landing site characterization experiments, mission overviews, and expected science[J]. Journal of Geophysical Research, 2008, 113(3):5146-5163. [6] OKI T, ABIKO S, NAKANISHI H, et al. Time-optimal detumbling maneuver along an arbitrary arm motion during the capture of a target satellite[C]∥ Proceedings of International Conference on Intelligent Robots and Systems. Hamburg, Germany: IEEE, 2015:625-630. [7] UMETANI Y, YOSHIDA K. Resolved motion rate control of space manipulators with generalized Jacobian matrix[J]. IEEE Transactions on Robotics & Automation, 1989, 5(3): 303-314. [8] CAVENAGO F, VOLI L, MASSARI M. Adaptive hybrid system framework for unified impedance and admittance control[J]. Journal of Intelligent & Robotic Systems, 2017, 78(3/4): 359-375. [9] AGHILI F. A prediction and motion-planning scheme for visually guided robotic capturing of free-floating tumbling objects with uncertain dynamics[J]. IEEE Transactions on Robotics, 2012, 28(3): 634-649.
[10] HOGAN N. Impedance control - an approach to manipulation. I-theory.II-implementation.III-applications[J]. Journal of Dyna- mic Systems Measurement and Control, 1985, 107(4):481-489. [11] RASTEGARI R, MOOSAVIAN S A A. Multiple impedance control of space free-flying robots via virtual linkages[J]. Acta Astronautica, 2010, 66(5):748-759. [12] STOLFI A, GASBARRI P, SABATINI M. A combined impe- dance- PD approach for controlling a dual-arm space manipulator in the capture of a non-cooperative target[J]. Acta Astronautica, 2017, 139: 243-253. [13] BARATA J, HUSSEIN M. The Moore-Penrose pseudoinverse: a tutorial review of the theory[J]. Brazilian Journal of Physics, 2012, 42(1/2):146-165. [14] KUINDERSMA S, PERMENTER F, TEDRAKE R. An efficiently solvable quadratic program for stabilizing dynamic locomotion[C]∥Proceedings of IEEE International Conference on Robotics and Automation. Hong Kong, China: IEEE, 2014: 2589-2594. [15] FENG S Y, WHITMAN E C, XINJILEFU X, et al. Optimization-based full body control for the DARPA robotics challenge[J]. Journal of Field Robotics, 2015, 32(2):293-312. [16] DE LASA M, MORDATCH I, HERTZMANN A. Feature-based locomotion controllers[J]. ACM Transactions on Graphics, 2010, 29(4): 131:1-131:10. [17] 李世敬, 王解法, 冯祖仁,等. 基于动态观测器的不确定机器人鲁棒控制研究[J]. 兵工学报, 2005, 26(2):263-266. LI S J, WANG J F, FENG Z R, et al. A study on the uncertain robust control of robot based on dynamic observer[J]. Acta Armamentarii, 2005, 26(2):263-266.(in Chinese) [18] ESCANDE A, MANSARD N, WIEBER P B. Hierarchical quadratic programming: fast online humanoid-robot motion generation[J]. International Journal of Robotics Research, 2014, 33(7):1006-1028. [19] 李晖, 伍清河. 空间关联系统的最优控制[J]. 兵工学报, 2010, 31(6):685-691. LI H, WU Q H. Optimal control of spatial interconnected systems[J]. Acta Armamentarii, 2010. 31(6):685-691.(in Chinese)
[20] HUANG Q, NAKAMURA Y. Sensory reflex control for humanoid walking[J]. IEEE Transactions on Robotics, 2005, 21(5):977-984. [21] GRANT M, BOYD S. CVX: Matlab software for disciplined convex programming, version 1.21[M]. Palo Alto, CA, US:Stanford University, 2008:155-210.
第40卷 第2期2019 年2月兵工学报ACTA ARMAMENTARIIVol.40No.2Feb.2019
|