摘要
利用牛顿-欧拉方法分析了多臂自由飞行空间机器人协调操作系统的动力学特性,推导出多臂自由飞行空间机器人协调操作的机械臂铰接连杆间的广义作用力计算方法.通过逐级迭代建立了多臂自由飞行空间机器人系统的动力学方程,进一步得到了驱动电机控制力矩的计算公式.仿真证明多臂自由飞行空间机器人操作的目标物体能够跟踪目标物体的期望位姿.
The coordination dynamics character of multi-arm free-flying space robot was analyzed with the approach of Newton-Euler. The calculating method of general force between any two bars connected of FFSR was deduced. The dynamics equation of multi-arm coordinate FFSR was established. Furthermore torques calculation formulation of driving motors of multi-arm space robot was given. The actual trajectory of the object on the object-body coordinated by manipulators can track the desired position and orientation curves through dynamic simulation analysis.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2007年第3期374-377,共4页
Journal of Harbin Institute of Technology
基金
国家自然科学基金资助项目(60305009)
关键词
自由飞行空间机器人
协调操作
动力学分析
广义力
free-flying space robot
coordinated operating
dynamic analysis
general force
作者简介
李瑰贤（1941-），女，教授，博士生导师．
E-mail：jyyuanhit@163．com
