FREE-FLOATING SPACE MANIPULATOR’S NO-SPACECRAFT-ATTITUDE-DISTURBANCE PATH PLANNING USING DYNAMICS SINGULARITIES
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摘要: 讨论了载体位置、姿态均不受控制的双臂自由浮动空间机器人的无扰运动规划问题。结合系统的动量及动量矩守恒关系,证明了动力学奇点的存在,并导出了动力学奇点的数学解析求解公式。在此基础上,利用动力学奇点给出了双臂自由浮动空间机器人载体姿态无扰运动路径的规划设计方法。该方法有助于空间环境下遥控机械手辅助航天器对接等任务操作的运动规划。
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关键词:
- 漂浮基双臂空间机器人 /
- 动力学奇点 /
- 姿态无扰运动规划
Abstract: This paper discusses path planning of the free-floating double arms space manipulators under the tiny gravity envioronment. Combination the condition of conservations of momentum and angular momentum, the text gives out the formula to compute the dynamics singularities and the zero disturbance maps of the robotic system. Using the dynamics singularities and the zero disturbance maps,we can develop a way to save the expensive space feul resources through path planning.-
Key words:
- Free-floating space robot /
- Dynamics singularities /
- Path planning
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