空间机械臂逆动力学的Liapunov方法

THE LIAPUNOV’S METHOD FOR THE INVERSE DYNAMICS OF A SPACE MANIPULATOR

讨论了空间机械臂的逆动力学问题，指出了系统的非完整约束性质．以铰转角为变量的Ｌｉａｐｕｎｏｖ方法由于理论缺陷导致实践中出现计算死点而难以实际应用．文中提出以臂端载荷位形为变量的Ｌｉａｐｕｎｏｖ方法并给出算例。

The inverse dynamics of a space manipulator is discussed in this paper. It is shown that as the result of the nonholonomic behavior of the system,the Liapunov's method with the joint angles as variables is infeasible in the practice,owing to the theoretical incorrectness and the appearance of dead point in computation. The Liapunov's method using the configuration of the payload as variables is suggested,and a numerical example is given. The improved method of path-planning can ensure the asymptotic stability of the motion of the payload toward the desired target.