自由飞行空间机器人地面实验平台系统规划器

Planning SUB-system of Ground Test System for Dual-ARM Free-flying Space Robto

为了研究自由飞行空间机器人的运动学和动力学特性 ,开发了可以在地面上模拟空间微重力环境并能自主捕捉目标的双臂自由飞行空间机器人地面实验平台仿真系统。介绍了整个系统的组成 ,讨论了系统所采用的规划器 ,主要介绍了规划器所采用的控制策略和规划算法 。

For researching the kinematics and dynamics of free flying space robot, the ground test system for dual arm free flying space robot is developed, which can autonomously capture the floating target under the artificial micro gravity environment. Firstly, this paper discusses the structure the system. Secondly, it discusses the planning sub system, with emphasis on the control strategic and planning algorithm. Finally, the effectiveness of the planning sub system is verified by computer simulation.