| 自由飞行空间机器人通用运动学模型及其仿真 |
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| 引用本文： | 王鸿鹏,洪炳熔.自由飞行空间机器人通用运动学模型及其仿真[J].宇航学报,2000,21(3):45-51. |
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| 作者姓名： | 王鸿鹏 洪炳熔 |
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| 作者单位： | 哈尔滨工业大学计算机系 哈尔滨 150001 |
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| 基金项目： | 本课题得到863国家高技术航天领域计划项目资助［863-2-4-1-2］ |
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| 摘 要： | 本文了一种新的通用运动学模型。这一模型和以前方法不同，用通用方法导出能求机器人任一部分速度的通用方程式，同时这种通用模型由于运动学方程式表达式简单，所以计算速度很快，从而为空间机器人实时控制提供条件。本文首先在通用运动学模型所需的基本概念基础上推导出通用的运动学模型方程式，其次对该运动模型给以分析，最后通过仿真实验方法证明了本文提出的通用运动学模型比以往的几种运动学模型计算速度快的结论。
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| 关 键 词： | 自由飞行空间机器人 通用运动学模型 仿真 |
| 修稿时间： | 1998年12月24 |
THE GENERAL KINEMATIC MODEL AND ITS SIMULATION OF FREE-FLYING SPACE ROBOT |
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| Wang Hongpeng\ Hong Bingrong.THE GENERAL KINEMATIC MODEL AND ITS SIMULATION OF FREE-FLYING SPACE ROBOT[J].Journal of Astronautics,2000,21(3):45-51. |
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| Authors: | Wang Hongpeng\ Hong Bingrong |
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| Abstract: | A new general kinematics model is proposed in this paper.The model is different from the conventional methods,by using the general method the general equation is derived to calculate the velocity of the arbitrary body(reference part) of robot;the calculate speed of the general model is also fast because of the simple kinematics equations,so it is possible for the real time control of space robot.Firstly,the basic concepts for deriving the general model are given,and the general kinematics equation is derived on the basis.Secondly,the kinematics model is analysized.Finally,it is proved by simulation experiment that the computing time of the general kinematics proposed in the paper is shorter than other conventional methods. |
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| Keywords: | Free flying space robot\ General kinematics model\ Reference part\ Simulation |
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