空间机器人柔性臂动力学建模、分析、控制与仿真的研究

Research on Dynamic Modeling, Analysis, Control and Simulation of Space Flexible Manipulator

空间机器人柔性臂是一个非常复杂的非线性、强耦合的动力学系统，其动力学的研究是比较复杂和困难的问题。本文对其建模、分析到控制与仿真等各个方面，结合国内外研究和发展的状况，综合性地进行了分析，并对一些需要重点解决的问题进行了较详细的研究与探讨。最后，指出了研究与发展的方向。

Space flexible manipulator is a very complicated, nonlinear and strong coupling dynamic system, and the research of its dynamics is a troublesome and difficult problem. In this paper, some problems on modeling, analysis, control and simulation of the system are synthetically dissussed. In addition, the mainproblems which need to be solved are studied in detail. Finally, the directions of future research are pointedout.