摘要
首先建立了受非完整约束的自由漂浮空间机器人系统的运动学模型 ,继而深入分析了系统的动力学奇异性 ,然后 ,重点探讨了基于 Lyapunov函数的空间机器人避奇异运动规划方法 。
Kinematic model of a kind of space robot system with nonholonomic constraints was built at first, dynamic singularity of the space robot system was further analyzed, and then, the motion planning method avoiding dynamic singularity based on Lyapunov function was discussed emphatically; valuable results were obtained by a comparative simulation study.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2001年第5期474-477,共4页
Acta Aeronautica et Astronautica Sinica
基金
航天 8 6 3资助项目 ( 86 3-2 .98.3)
