双臂空间机器人姿态调整运动的最优控制规划

讨论了双臂空间机器人系统姿态调整运动的最优控制规划问题．以多体动力学理论为基础,导出了载体位置、姿态均不受控制情况下,双臂空间机器人系统的动量矩守恒关系,并将其转化为系统状态方程;利用近似优化方法给出了一种双臂空间机器人姿态、关节协调运动的最优控制算法．其优点在于,仅控制双臂空间机器人的关节运动,即可同时获得载体姿态及机械臂关节需要的终端位置．系统数值仿真,证实了算法的有效性．

Attitude Control of Space Robot System With Dual-Arms by Optimal Motion Planning

The optimal nonholonomic motion planning for free-floating space robot system with dual-arms is discussed. Based on the linear and angular momentum conservations of the system, the system state equations for control design are established, so the nonholonomic motion planning objective of attitude control for space robot system is transformed as the solution of a canonical nonlinear control problem. The optimal control scheme for the proposed system is studied, and a numerical algorithm for computing approximate optimal control of the system is developed. The optimal motion planning approach proposed above possesses the advantages of obtaining the desired angles of the base's attitude and arms' joints only by controlling the arms' joints motion. A planar free-floating space robot system with dual-arms is simulated to verify the proposed approach.