论文部分内容阅读
研究轨道空间机器人操作时，基座处于自由飘浮状态的手爪准刚性运动直角坐标轨迹的分解运动控制，重点分析了广义雅可比矩阵的计算，并进行了空间单手３—ＤＯＦ的仿真，该方法可相应推广到开链多手。
In this paper, the control of the trajectory of quasi-rigid parallax of pawl in free-floating state is studied in this paper. The calculation of generalized Jacobi matrix and the simulation of space single-handed 3-DOF are studied. The method can be extended to open the chain more hands accordingly.