双臂自由飞行空间机器人的姿态控制方案

自由飞行空间机器人的姿态控制可考虑利用反作用轮或反作用喷气装置以机器人本体姿态不变，但这种方法存在的最大问题是消耗燃料，直接影响机器人的轨道寿命，同时对系统产生振动而导致系统不稳定，为此本文提出了另一种新的方案，即基于受限最小干扰图的姿态控制方案。这种方案不使用反作用轮或反作用喷气装置，而通过规划机械手末端的运动轨迹，使机器人的本体姿态在机械手动作过程中基本保持不变。为验证本文提出的姿态控制方案的

SCHEME OF ATTITUDE CONTROL OF DUAL-ARM FREE-FLYING SPACE ROBOT

Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free flying space robot.However,this method consumes large sum of fuel,shortens the life span of space robot and makes the system unsteady.In this paper,Restricted Minimum Disturbance Map(RMDM) based scheme of attitude control is presented to keep the attitude of the base fixed during the movement of the manipulator via planning motion trajectory of the end effector of manipulator without using reaction wheel or reaction thruster.In order to verify the feasibility and effectiveness of the attitude control scheme presented in this paper,computer simulation experiments have been made and the experimental results demonstrate that the scheme is feasible.