Motion control for a space platform complex: I. Mathematical model of the complex

Authors
Baturin, VV Peisakhovich, GA Rudakov, RN Sadomtsev, YV Utkin, GV Fedoseev, SV Chelnokov, YN
Citation
Vv. Baturin et al., Motion control for a space platform complex: I. Mathematical model of the complex, J COMP SYST, 40(4), 2001, pp. 655-662
Citations number
6
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL
ISSN journal
10642307 → ACNP
Volume
40
Issue
4
Year of publication
2001
Pages
655 - 662
Database
ISI
SICI code
1064-2307(200107/08)40:4<655:MCFASP>2.0.ZU;2-L
Abstract
A space platform complex is considered. Its pivotal elements are a three-li nk manipulator with rotating joints and a stabilized platform with three ax es. The mathematical model of this complex is presented. When used for simu lation, this model makes it possible to take into account not only the dyna mics of the manipulator and the platform, but also the nonlinearities of dr ives, the finiteness of the word length of digital-to-analog and analog-to- digital converters (digital sensors), as well as other factors.