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Search: authors:"Wenfu Xu"

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Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure

A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it to lose one degree of freedom (DOF), hence reducing its movement ability. In this paper, the key problems related to the fault...

Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger

The geometric parameters of a space robot change with the terrible temperature change in orbit, which will cause the end-effector pose (position and orientation) error of a space robot, and so weakens its operability. With this in consideration, a new geometric parameter identification method is presented based on a laser-ranger attached to the end-effector. Then, independence of...