带滑移铰空间机械臂运动规划的双向逼近方法

BI-DIRECTIONAL APPROACH FOR MOTION PLANNING OF SPACE MANIPULATORS WITH PRISMATIC JOINT

以双向逼近方法为基础,讨论了载体姿态与位置均不受控制的带滑移铰空间机器臂的运动规划问题．该方法利用系统的非完整动力学性质,仅通过对空间机器臂关节铰运动的控制,即可达到对载体姿态及机械臂关节位置的双重控制效果,从而减少了载体姿态控制燃料的消耗,有效延长了空间机械臂系统的使用寿命．系统数值仿真证明了该方法的有效性．

Based on a bi-directional approach, the paper discusses the motion planning of free-flying space manipulators with prismatic joint. Considering its nonholonomic nature, the vehicle orientation can be controlled in addition to the joint variables of the manipulators, by actuating only the joint variables. As the result, the fuel consumption for controlling the vehicle orientation is reduced and the life-span of space manipulator system is prolonged. A planar space manipulator with prismatic joint is simulated to verify the proposed approach.