自由飞行空间机器人的运动学建模研究

空间机器人将在未来的空间项目中发挥重要的作用。但在空间环境中，由于缺乏一个固定的基座，机械臂的运动会对机器人本体的位置和姿态产生扰动，其运动学将变得很复杂。为建立自由飞行空间机器人的运动学模型，通常是将系统的动量表达为某个预先选定连杆的速度的函数，进而得到具有广义雅可比矩阵形式的运动学模型。这种方法的缺点是系统的动量无法以通用表达式描述，并且对如何最优选取连杆也缺乏必要的说明和讨论。本文对此进行了研究，得到了自由飞行空间机器人系统动量的通用表达式；通过选取相应的连杆，得到了具有广义雅可比矩阵形式的运动学模型；也分析和讨论了连杆优选问题。

Study of Kinematic Model of Free-Flying Space Robot

Space robot will play an important role in future space projects.However,any motion of the manipulator will induce reaction forces and moments,and they disturb position and attitude of the base body due to the lack of a fixed base.This makes the kinematics of free-flying space robot quite complex.To derive the kinematic model,an essential step is to express the momentum of the system as the functions of the velocities of a preselected link.Finally the kinematic model is derived.The disadvantage of this approach is that no generalized expressions for the momentum of the system is available,and different expressions for the momentum will emerge.Furthermore,in search for an efficient algorithm,how to optimally select the preselected body is still a problem.This paper studies the problem,and gets the generalized expression for the total momentum of the system;the kinematic model of free- flying space robot with Generalized Jacobian Matrix is also obtained.Finally the problem of selecting the preselected link is also deeply discussed and some conclusions are drawn.