空间机械手动力学及轨迹优化问题研究

Study on Dynamics and Trajectory Optimization of a Space Manipulator

机械手的动力学模型用在连接处施加控制扭矩的 2杆模型来模拟 ,考虑了因整体运动而引起的柔性杆的局部振动问题 ,使用了基于Hamilton定律的结构动响应算法对模型进行动力学分析。研究了使局部振动最小的整体运动的轨迹优化方案。给出末时速度和加速度双变量的优化结果 。

A model of the space manipulator is established with two-link flexible staffs. The motion of the manipulator consists of global motion and the local vibration. Instead of the Runge-Kutta method, an algorithm based on Hamilton law is applied to dynamic analysis of the model. The two- variable optimization scheme of the global motion trajectory is presented with an unknown velocity and acceleration for a minimum local vibration. A comparison of the optimized results using proposed procedure with single variable optimization algorithm is given.