漂浮基空间机械臂动力学问题研究进展

Advances in Researches of Dynamics Problems for Free-floating Manipulator

空间机械臂的载体处于自由漂浮状态,载体与机械臂之间存在运动学与动力学耦合行为,导致其运动学、动力学分析与控制比地面机械臂复杂得多,而建立精确的动力学模型和高效的控制策略是空间机械臂研究的重点与难点。对空间机械臂动力学建模方法及精细动力学建模进行了详细综述;总结了姿态调整运动规划、非完整路径规划及避奇异位形路径规划等运动规划方法;概述了空间机械臂捕获目标过程的碰撞动力学建模和控制策略研究。在此基础上指出了当前空间机械臂在动力学建模与控制方面存在的问题与不足,并对有待于进一步研究的若干问题进行了展望。

The base of space manipulator kept in a free-floating state, which caused the kinematics and dynamics coupling between the base and manipulator and made that it was more complicated than the ground manipulator for the analyses of kinematics and dynamics as well as control, and it was a difficult and hot spot to establish accurate dynamics model and control strategies for space manipula- tor. The dynamics modeling methods as well as fine dynamics modeling were reviewed in detail herein, and the path planning methods such as attitude adjustment, nonholonomic path planning, sin- gularities avoidance were summarized. Then the impact dynamics modeling as well as control in captu- ring a target for space manipulator were summarized. Based on the studies mentioned above, the prob- lems of present dynamics modeling were pointed out, and some topics to be further studied were pre- dicted.