载体姿态无扰的自由漂浮空间机器人运动学特性研究

针对载体姿态无扰的自由漂浮空间机器人的运动学问题,引入具有非完整特性的载体姿态无扰约束方程,推导了载体姿态无扰的自由漂浮空间机器人广义雅可比矩阵。采用等效杆的概念,分析了普通状态的自由漂浮空间机器人和载体姿态无扰的自由漂浮空间机器人可达工作空间;基于载体姿态无扰的自由漂浮空间机器人广义雅可比矩阵所得到的奇异方程,研究了载体姿态无扰的自由漂浮空间机器人动力学奇异性。仿真结果验证了普通状态的自由漂浮空间机器人与载体姿态无扰的自由漂浮空间机器人运动学问题的差异性。研究结果为载体姿态无扰的自由漂浮空间机器人运动规划及控制研究奠定了理论基础。

Research on Kinematic Characteristic of Free Floating Space Robot with Zero-disturbance Spacecraft Attitude

Aiming at the kinematic characteristic of free floating space robot(FFSR) with zero-disturbance spacecraft attitude,the constraint equation of zero-disturbance spacecraft attitude is introduced,and the generalized Jacobian matrix of FFSR with zero-disturbance spacecraft attitude is derived;the reachable workspace of FFSR with ordinary status and that of FFSR with zero-disturbance spacecraft attitude are analyzed by employing the concept of the equivalent link;the singularity equation is received based on the generalized Jacobian matrix of FFSR with zero-disturbance spacecraft attitude,and the dynamic singularity of FFSR with zero-disturbance spacecraft attitude is investigated.The simulation results validate the kinematic difference between FFSR with ordinary status and FFSR with zero-disturbance spacecraft attitude.The outcome well sets the foundation for the motion planning and control for FFSR with zero-disturbance spacecraft attitude.