FFSR的关节力矩递推算法及其捕捉目标研究

Research on the Recursive Algorithm of Joint Driven Torque and Capturing Target for Free Flying Space Robots

基于Ｌｕｈ等人针对地面机器人提出的Ｎｅｗｔｏｎ－Ｅｕｌｅｒ法建立了计算自由飞行空间机器人（ＦＦＳＲ）关节驱动力矩的递推算法；结合基于广义逆雅可比矩阵的分解运动速度控制法提出了一种捕捉目标的力矩控制算法；计算机仿真验证了算法的有效性．

The efficient recursive algorithm of the joint driven torque for FFSR has been developed based on the Newton Euler method to calculate the joint torque proposed by Luhs group for earth based robots. The torque control algorithm combined with resolved motion rate control with generalized inverse jacobian matrix for capturing target has been proposed. The computer simulation verifies the effectiveness of the proposed method and the algorithm.