摘要
讨论空间机械臂逆动力学路径规划问题．对于给定负载运动始末位置情形，采用无扰曲线变轨法和Pontryagin方法得到载体姿态扰动的优化路径．文中附有算例．
The inverse dynamically path planning of space manipulator is discussed. The op-timal paths are derived by traverse method of no-disturbance curves and Pontryagin'Smethod. The numerical simulation results are included.
基金
河北省博士科研基金
关键词
空间机械臂
路径规划
航天器动力学
载体姿态
space manipulator
Pontryagin's method
path planning
dynamics of spacecraft
