摘要
讨论了处于微重力环境中的空间机械手（ＳｐａｃｅＭａｎｉｐｕｌａｔｏｒ，ＳＭ）的运动特点及其各自由工作空间的划分。在此基础上，本文提出了ＳＭ捕捉运动目标的策略和规划方案，并通过计算机仿真加以验证。
This paper discusses the motion characteristic of a space manipulator(SM) in micro gravity environment and the division of a SM′s workspace. Based on the discussion, strategies and a planning scheme are presented for a SM to capture a moving target, whose effectiveness is verified by computer simulation.
出处
《机械科学与技术》
CSCD
北大核心
1997年第3期453-458,共6页
Mechanical Science and Technology for Aerospace Engineering
关键词
空间
机械手
工作空间
非完整冗余性
Space manipulator Workspace Nonholonomic characteristic Motion planning
