双臂空间机器人利用内部运动的姿态控制

本文对双臂自由漂浮空间机器人系统的姿态控制问题进行了研究 ,推导出了系统的运动学模型 ,证明了系统具有非完整的力学结构 ,并且提出了一种利用内部运动的机器人本体姿态控制算法。该算法可使机器人本体的姿态在机械臂完成任务的过程中保持不变或变化最小 ,仿真结果验证了算法的有效性。

ATTITUDE CONTROL OF DUAL-ARM SPACE ROBOT USING INTERNAL CONTROL

This paper studies attitude control problems of dual arm space robot using internal control.The kinematics of the system is derived firstly,then the system is proved to have the nonholonomic mechanical structure,and finally an attitude control algorithm using internal control is presented.This algorithm has the property that during the motion process the attitude of the base body will not change or the change is minimum.Simulation result demonstrates the feasibility of the algorithm.