空间机械手捕捉目标的运动控制策略

Motion Control Strategies of Space Manipulators to Capture a Target

首先讨论了空间机械手的运动特点及其各自由工作空间的划分。在此基础上，研究了空间机械手捕捉静态和运动目标的运动控制问题，提出了在各种情况下的运动控制策略，并通过计算机仿真进行了验证。所提出的运动控制策略充分利用了空间机械手的非完整冗余性，使空间机械手能在最大可达空间内进行捕捉目标操作。

Space manipulator ' s motion characteristics and its free workspace division are dis- cussed. The problem of motion control of space manipulators to capture static and moving tar- gets is studied. Motion control strategies are presented according to different situations, which are verified by computer simulation . The presented motion control strategies, making full use of nonholonomic characteristics of space manipulators, enable the space manipulator to capture a target within maximum space.