微重力环境下空间机械手的动力学建模新方法

A NEW ANALYTICAL MODELING METHOD FOR SPACE MANIPULATORS

未来空间作业将需要机械手在微重力的环境下完成各种复杂的任务．由于机械手与其本体的动态耦合，给机械手带来了许多运动学、动力学及控制方面的问题．本文提出了一种空间机械手动力学的建模新方法，对空间机械手的正、逆动力学进行了分析．应用该方法，建立了一种基于解出加速度的空间机械手的控制策略．本文所提出的方法不仅适合于单机械手系统，而且适合于多机械手的系统．

Future space manipulators will be required to perform complex tasks in space. These manipulators will encounter a number of kinematic, dynamic, and control problems caused by the dynamic coupling between the manipulator and its spacecraft. This paper introduces a new analytical modeling method for space manipulators which is conceptually simple. By means of the new method, a control method for space manipulators based on the resolved motion accceleration control concept is developed. The proposed method is applicable in not only the system consisted of one manipulator but also the system consisted of multiple manipulators.