摘要
０ ＩＮＴＲＯＤＵＣＴＩＯＮＲｅｃｅｎｔｌｙ，ｍｕｃｈａｔｔｅｎｔｉｏｎｉｓｐａｉｄｔｏｓｐａｃｅｒｏｂｏｔ（ＳＲ）ｂｅｃａｕｓｅｔｈｅｙｃａｎｔａｋｅｔｈｅｐｌａｃｅｏｆａｓｔｒｏｎａｕｔｓｏｒｒｅｄｕｃｅｔｈｅｉｒｗｏｒｋｌｏａｄｏｎｓｐａｃｅ...
The motion planning problem of a free flying space robot (FFSR) is investigated and from the attitude disturbance characteristics of a multi arm FFSR, a new method based on the fixed attitude restricted (FAR) Generalized Jacobian Matrix of a multi arm FFSR is proposed to enable the coordinated motion of all the other arms while one arm is tracing a given path so that there is no disturbance on the body, and the problem of attitude disturbance with an operating multi arm FFSR is thereby better resolved. The simulation run with a dual arm FFSR system verifies the effectiveness of this algorithm.
