| 自由飞行空间机器人捕捉运动目标的力矩控制算法及其仿真 |
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| 引用本文： | 洪炳熔,柳长安,李华忠.自由飞行空间机器人捕捉运动目标的力矩控制算法及其仿真[J].宇航学报,2000,21(4):64-70. |
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| 作者姓名： | 洪炳熔 柳长安 李华忠 |
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| 作者单位： | 哈尔滨工业大学计算机科学与工程系,哈尔滨,150001 |
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| 基金项目： | 航天 8 6 3资助项目! (项目编号 :86 3 2 4 1 2 ) |
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| 摘 要： | 本文研究了自由飞行空间机器人（ＦＦＳＲ）捕捉运动目标的力矩控制算法及其仿真。首先，建立了ＦＦＳＲ关节驱动力矩的求解算法；其次结合基于广义雅可比矩阵的分解运动速度控制方法提出了一种ＦＦＳＲ捕捉运动目标的力矩控制算法；最后，计算机仿真验证了本文提出算法的正确性。
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| 关 键 词： | 自由飞行空间机器人 关节驱动力矩 FFSR |
| 修稿时间： | : |
TORQUE CONTROL ALGORITHM FOR FREE FLYING SPACE ROBOTS CAPTURING A MOVING TARGET AND ITS SIMULATION |
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| Hong Bingrong,Liu Chang'an,Li Huazhong.TORQUE CONTROL ALGORITHM FOR FREE FLYING SPACE ROBOTS CAPTURING A MOVING TARGET AND ITS SIMULATION[J].Journal of Astronautics,2000,21(4):64-70. |
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| Authors: | Hong Bingrong Liu Chang'an Li Huazhong |
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| Abstract: | The torque control algorithm for Free Flying Space Robots(FFSR) captureing a moving target and its simulation are discussed in this paper.First,the efficient recursive algorithm of joint driven torque for FFSR is put forward.Then,the torque control algorithm for capturing a moving target is derived from the Resolved Motion Rate Control(RMRC) which is based on Generalized Jacobian Matrix(GJM).Finally,the computer simulation verifies the effectiveness of the proposed algorithm. |
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| Keywords: | Free flying space robots\ Joint driven torque\ Generalized jacobian matrix\ Computer simulation |
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