摘要
基于建立的空间机械臂系统的运动学与动力学模型,以及动量守恒关系,对空间机械臂抓取空间目标进行了分析。讨论了两关节机械臂4种碰撞力方向及其对应的机械臂系统耦合角动量、关节转角的变化,提出了直臂抓取方案。仿真结果表明:通过控制碰撞力方向可有效减少碰撞力对系统耦合角动量、关节转角的影响,进而避免混合体控制的关节与力矩限制。
The space manipulator capture was analyzed based on the kinematic and dynamic models of space manipulator and the momentum equation in this paper. The four directions of impact force and the corresponding changes of coupling momentum and the joint angle were discussed. The concept of straight-arm capture was put forward. The simulation results showed that the effect of impact force on coupling angular momentum and joint angles could be reduced by controling the direction of impact force, then the joint and torque limitation of compound control would be avoided.
出处
《上海航天》
2009年第4期7-11,16,共6页
Aerospace Shanghai
基金
国家高技术"863"小型飞行机器人系统(2005AA742014)
关键词
空间机械臂
抓取目标
碰撞力
直臂抓取
耦合角动量
关节转角
Space manipulator
Capture object
Impact force
Straight-arm capture
Coupling angular momentum
Joint angle
