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The attitude dynamics equation of free-floating space robots subjected to gravitational gradient effect is investigated. A two-link space robot is employed to analyze nonlinear properties of the perturbed yaw motion of the system in depth, when the manipulator configuration is fixed. Its nonlinear dynamical behavior is described by phase plane plot and Poincaré section. It is shown that the perturbed motion is sensitive to orbital eccentricity. The system takes on periodic motion and tumbling in circular orbit, while additional quasi-periodic motion in elliptic orbit. Furthermore, these nonlinearities are quantitatively studied by means of bifurcation and power spectrum.
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Keywords:
- gravitational gradient /
- space robots /
- attitude dynamics /
- nonlinearity
[1] Yoshida K 2009 IEEE Robot. Autom. Mag. 16 20
[2] Liao Y H, Li D K, Tang G J 2011 Sci. China: Tech. Sci. 54 1234
[3] Yoshida K 2003 Int. J. Robot. Res. 22 321
[4] Ogilvie A, Allport J, Hannah M, Lymer J 2008 Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (Hollywood: European Space Agency) p25
[5] Nanos K, Papadopoulos E 2011 Intel. Serv. Robot. 4 3
[6] Xu W F, Liang B, Xu Y S 2011 Acta Astronaut. 68 1629
[7] Zhou S, Fu J L, Liu Y S 2010 Chin. Phys. B 19 120301
[8] Vafa Z, Dubowsky S 1987 Proceedings of the IEEE International Conference on Robotics and Automation (Raleigh: IEEE Robotics and Automation Society) p579
[9] Liang B, Xu Y S, Bergerman M 1998 J. Dyn. Syst. Meas. Control 120 1
[10] Dubowsky S, Papadopoulos E 1993 IEEE Trans. Robot. Autom. 9 531
[11] Xu W F, Liu Y, Liang B, Wang X Q, Xu Y S 2010 Multibody Syst. Dyn. 23 293
[12] Xu W F, Liang B, Li C, Xu Y S 2010 Robotica 28 705
[13] Xu W F, Liang B, Li C, Liu Y, Xu Y S 2009 Robotica 27 425
[14] Yu F J 2012 Chin. Phys. B 21 110202
[15] Sun C C, Xu Q C, Sui Y 2013 Chin. Phys. B 22 030507
[16] Zhang T Y, Zhao Y, Xie X P 2012 Chin. Phys. B 21 120503
[17] Wang C Q, Wu P F, Zhou X 2012 Acta Phys. Sin. 61 230503 (in Chinese) [王从庆, 吴鹏飞, 周鑫 2012 61 230503]
[18] Xu G Y, Zhang M, Wang H Q 2012 Informatics in Control, Automation and Robotics (Berlin: Springer) pp59-66
[19] Kai T 2012 Acta Astronaut. 74 20
[20] Zhao H C, Wang C Q, Guo Z 2010 Mod. Appl. Sci. 4 175
[21] Cocuzza S, Pretto I, Debei S 2011 Acta Astronaut. 68 1712
[22] Sun W C, Gao H J, Kaynak O 2013 IEEE-ASME Trans. Mechatron. 18 1072
[23] Oda M 2000 Proceedings of the IEEE International Conference on Robotics and Automation (San Francisco: IEEE Robotics and Automation Society) p914
[24] Navabi M, Nasiri N, Dehghan M 2012 Commun. Nonlinear Sci. Numer. Simulat. 17 1065
[25] Jia F L, Xu W, Li H N, Hou L Q 2013 Acta Phys. Sin. 62 100503 (in Chinese) [贾飞蕾, 徐伟, 李恒年, 侯黎强 2013 62 100503]
[26] Schaub H, Junkins J L 2003 Analytical Mechanics of Space Systems (Reston: American Institue of Aeronautics and Astronautics) pp145-154
[27] Zhang X F, Zhou J B, Zhang C, Bi Q S 2013 Acta Phys. Sin. 62 240505 (in Chinese) [张晓芳, 周建波, 张春, 毕勤胜 2013 62 240505]
[28] Li C L, Yu S M 2012 Acta Phys. Sin. 61 040504 (in Chinese) [李春来, 禹思敏 2012 61 040504]
[29] Xu W F, Li C, Liang B, Xu Y S, Liu Y, Qiang W Y 2009 Acta Astronaut. 64 109
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[1] Yoshida K 2009 IEEE Robot. Autom. Mag. 16 20
[2] Liao Y H, Li D K, Tang G J 2011 Sci. China: Tech. Sci. 54 1234
[3] Yoshida K 2003 Int. J. Robot. Res. 22 321
[4] Ogilvie A, Allport J, Hannah M, Lymer J 2008 Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (Hollywood: European Space Agency) p25
[5] Nanos K, Papadopoulos E 2011 Intel. Serv. Robot. 4 3
[6] Xu W F, Liang B, Xu Y S 2011 Acta Astronaut. 68 1629
[7] Zhou S, Fu J L, Liu Y S 2010 Chin. Phys. B 19 120301
[8] Vafa Z, Dubowsky S 1987 Proceedings of the IEEE International Conference on Robotics and Automation (Raleigh: IEEE Robotics and Automation Society) p579
[9] Liang B, Xu Y S, Bergerman M 1998 J. Dyn. Syst. Meas. Control 120 1
[10] Dubowsky S, Papadopoulos E 1993 IEEE Trans. Robot. Autom. 9 531
[11] Xu W F, Liu Y, Liang B, Wang X Q, Xu Y S 2010 Multibody Syst. Dyn. 23 293
[12] Xu W F, Liang B, Li C, Xu Y S 2010 Robotica 28 705
[13] Xu W F, Liang B, Li C, Liu Y, Xu Y S 2009 Robotica 27 425
[14] Yu F J 2012 Chin. Phys. B 21 110202
[15] Sun C C, Xu Q C, Sui Y 2013 Chin. Phys. B 22 030507
[16] Zhang T Y, Zhao Y, Xie X P 2012 Chin. Phys. B 21 120503
[17] Wang C Q, Wu P F, Zhou X 2012 Acta Phys. Sin. 61 230503 (in Chinese) [王从庆, 吴鹏飞, 周鑫 2012 61 230503]
[18] Xu G Y, Zhang M, Wang H Q 2012 Informatics in Control, Automation and Robotics (Berlin: Springer) pp59-66
[19] Kai T 2012 Acta Astronaut. 74 20
[20] Zhao H C, Wang C Q, Guo Z 2010 Mod. Appl. Sci. 4 175
[21] Cocuzza S, Pretto I, Debei S 2011 Acta Astronaut. 68 1712
[22] Sun W C, Gao H J, Kaynak O 2013 IEEE-ASME Trans. Mechatron. 18 1072
[23] Oda M 2000 Proceedings of the IEEE International Conference on Robotics and Automation (San Francisco: IEEE Robotics and Automation Society) p914
[24] Navabi M, Nasiri N, Dehghan M 2012 Commun. Nonlinear Sci. Numer. Simulat. 17 1065
[25] Jia F L, Xu W, Li H N, Hou L Q 2013 Acta Phys. Sin. 62 100503 (in Chinese) [贾飞蕾, 徐伟, 李恒年, 侯黎强 2013 62 100503]
[26] Schaub H, Junkins J L 2003 Analytical Mechanics of Space Systems (Reston: American Institue of Aeronautics and Astronautics) pp145-154
[27] Zhang X F, Zhou J B, Zhang C, Bi Q S 2013 Acta Phys. Sin. 62 240505 (in Chinese) [张晓芳, 周建波, 张春, 毕勤胜 2013 62 240505]
[28] Li C L, Yu S M 2012 Acta Phys. Sin. 61 040504 (in Chinese) [李春来, 禹思敏 2012 61 040504]
[29] Xu W F, Li C, Liang B, Xu Y S, Liu Y, Qiang W Y 2009 Acta Astronaut. 64 109
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