摘要
利用多体系统动力学方法导出冗余度空间机械臂的动力学方程．利用动力学优化控制规律，以最小关节速度为优化目标，讨论了冗余度空间机械臂追踪惯性空间期望轨迹的控制问题．通过仿真计算，表明控制规律的有效性．
Dynamical equations of redundant space manipulators are established in this paper by use of the method of multibody dynamics. The free floating space manipulators are controlled to track the desired trajectory of work space based on the dynamic optimal control law with the minimum joint velocity as a goal of optimization.It is shown by the numerical simulation that the given control method is efficient.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1997年第1期27-31,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金
博士点专项科研基金
