空间机械臂逆动力学问题的解析研究

An Analytical Study of Inverse Dynamics of Space Manipulator

本文讨论三刚体空间机械臂的逆动力学问题．利用逐次逼近法导出根据臂端设计轨迹计算机械臂控制规律的解析形式递推公式，并对航天器不受扰条件问题进行了讨论．

The inverse dynamics of a space-based manipulator composed of three rigid bodiesis studied in the present paper. Recursive formulas of the control law of the manipulator dueto the desired path of the end-effector are obtained in analytical form by the use of the iteration method, and the problem of no-disturbance conditions of the spacecraft is discussed.