多自由飞行空间机器人控制系统结构的设计与实现

Design and Achieving of the Control System Architecture of Multi free flying Space Robots

阐述了多个自由飞行空间机器人协调操作自主控制系统的控制结构。首先介绍了控制系统结构的组成 ,讨论了控制系统的策略控制器 。

The autonomous manipulation system control architecture of multi free flying space robots was discussed. Firstly, it briefly introduces the configuration of comtrol system architecture. Secondly, it discusses the strategic controller of the control system. Finally, it presents the motion controller and gives the control algorithm of flying maneuver and slew.