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基于双向逼近方法,讨论了载体位置与姿态均不受控制的双臂空间机器人系统的运动规划问题。该方法以系统动量和动量矩守恒关系为基础,建立了控制系统设计所需系统状态方程;并通过对系统状态方程应用双向逼近方法,获得了机械臂关节角的控制输入方程,从而达到对载体姿态及机械臂关节角的双重控制效果。该方法的优点是减少了载体姿态控制燃料的消耗,有效地延长了空间机器人系统的使用寿命。系统数值仿真证明了该方法的有效性。
Based on the bi-directional approximation method, the motion planning of a dual-arm space robot system whose position and attitude are not controlled is discussed. Based on the conservation of the system momentum and momentum, the system equation of state for the control system design is established. By using the two-way approximation method to the system state equation, the control input equation of the joint angle of the manipulator is obtained, Attitude and manipulator joint angle of the dual control effect. The advantage of this method is that it reduces the consumption of carrier attitude control fuel and effectively prolongs the service life of the space robot system. Numerical simulation shows that the method is effective.