论文部分内容阅读
自由飞行空间机器人的姿态控制可考虑利用反作用轮或反作用喷气装置以维持机器人本体姿态不变 ,但这种方法存在的最大问题是消耗燃料 ,直接影响机器人的轨道寿命 ,同时对系统产生振动而导致系统不稳定。为此本文提出了另一种新的方案 ,即基于受限最小干扰图的姿态控制方案。这种方案不使用反作用轮或反作用喷气装置 ,而通过规划机械手末端的运动轨迹 ,使机器人的本体姿态在机械手动作过程中基本保持不变。为验证本文提出的姿态控制方案的可行性及有效性 ,本文在计算机上做了仿真实验 ,实验结果表明本文提出的方案完全可以消除机械手的运动对本体所产生的姿态干扰
Attitude control of a free-flight space robot may consider the use of a reaction wheel or a reaction jet to maintain the posture of the robot body. However, the biggest problem with this method is that fuel consumption directly affects the orbital life of the robot and causes vibration to the system System instability. To this end, another new scheme is proposed in this paper, which is the attitude control scheme based on the constrained minimum interference graph. This scheme does not use the reaction wheel or the reaction jet, and by planning the trajectory of the end of the robot, the robot’s body posture remains substantially unchanged during the manipulator’s operation. In order to verify the feasibility and effectiveness of the attitude control scheme proposed in this paper, the simulation experiment is done on the computer. The experimental results show that the scheme proposed in this paper can completely eliminate the attitude disturbance of the manipulator to the body