载体位姿不受控的空间机械臂非完整特性研究

Research on nonholonomic chatacter for space manipulator without controlling the pose of the base

载体位姿不受控的空间机械臂系统,其载体和机械臂之间存在角动量守恒方程约束。由于该约束是非完整约束,所以普通的固定基座机器人运动学理论不能直接用来解决这类空间机械臂系统的运动学问题,基于这类非完整性约束,推出载体位姿不受控空间机械臂的运动学方程,在速度层次上分析这类载体位姿不受控的空间机械臂的运动学问题,并进行由于非完整特性引起载体位姿干扰与奇异问题的仿真研究。

A motion coupling exists between the base and the manipulator because of the unfixed base, and the system exhibits some nonholonomic character. So the kinematics theory of a fixed base robot cannot solve the kinematics modeling for the manipulator with an unfixed base. It mainly focus on how to figure out the kinematics modeling at velocity layer based on the momentum conservation. The disturbance of the base and the singularity due to the nonholonomic character are analyzed by the simulation.