滑移铰空间机器人基于分级Lyapunov方法的避障碍非完整运动规划

基于分级Lyapunov方法，讨论了载体姿态与位置均不受控制的滑移铰空间机器人末端运动轨迹的避障碍运动学规划问题．首先以系统动量矩守恒关系及运动Jacobi关系为基础，建立了控制设计所需的系统状态方程及控制输出方程．此后，在Lyapunov函数的选取上采取分两级采取的方式，即初级Lyapunov函数确保滑移铰空间机器人的末端抓手从初始位置运动到指定的终点位置，次级Lyapunov函数则确保末端抓手避开工作空间中的障碍区域；两级合成则使空间机器人的末端抓手既实现了指定的位置移动又避开了障碍区域．系统数值仿真，证明了方法的有效性．

Nonholonomic Motion Planning of Space Robots with Prismatic Joint for Obstacle Avoidance via Hierarchical Lyapunov Methods

Based on hierarchical Lyapunov methods, the motion planning of free-flying space robots with prismatic joint for obstacle avoidance is discussed. First, with the momentum conversation and the Jacobian matrix, the system state equations and the control output equations for control design are established. And then the primary and secondary Lyapunov functions are selected. The primary function insures the movement of the endeffector from the start point to the end point. The secondary ascertains obstacle avoidance of the endeffector. Combined the primary and secondary functions, the endeffector implements the specific movement and realizes obstacle avoidance. A planar space robot with prismatic joint is simulated to verify the proposed methods.