摘要
针对弹簧?阻尼(spring-damp,SD)并联模型描述机器人接触作业时需要耗时调节刚度、阻尼系数,并在接触末端额外安装力传感器等缺陷,基于互补问题,描述空间机械臂末端与目标的单边接触,推导具有紧凑数学形式的空间机器人接触动力学模型。采用Lemke算法设计动力学模型的数值计算方法,并通过数学仿真验证动力学模型的有效性。
Traditionally, the contact between the end-effector and the target is modeled as a parallel spring-damp model, which requires a time-consumed tuning of values of stiffness and damping factor and an extra force sensor fixed on the end-effector. The above drawbacks inspire the application of complementary problem to uniformly describe the unilateral contact for space robot. A dynamical equation of the space robot with unilateral contact is derived, and a numerical method is developed utilizing the Lemke algorithm. By numerical calculation of a planar 3 degree-of-freedom（DOF） manipulator fastened on a 3 DOF floating base, the effectiveness of the dynamical model is verified.
出处
《北京大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2016年第4期627-633,共7页
Acta Scientiarum Naturalium Universitatis Pekinensis
基金
国家自然科学基金(11402004)资助
关键词
动力学
空间机器人
单边接触
互补问题
dynamics
space robot
unilateral contact
complementary problem
