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空间机器人工作在自由漂浮模式时,机械臂与本体之间存在动力学耦合,两者的运动会相互影响,使得其运动控制问题比地面机器人更为复杂。针对自由漂浮空间机器人的运动控制问题,研究了一种基于系统逆运动学闭环形式的运动控制方法,保证了系统控制的稳定性。在此基础上,利用系统的冗余特性,实现了本体姿态零扰动控制。通过对7关节自由漂浮空间机器人的运动控制进行仿真,验证了该方法的有效性。
When the space robot operates in a free-floating mode, there is a dynamic coupling between the robot arm and the body, and the motion of the space robot interacts with each other, so that the motion control problem of the space robot is more complicated than the ground robot. Aiming at the problem of motion control of free-floating space robot, a motion control method based on closed-loop system of inverse kinematics is studied to ensure the stability of system control. On this basis, using the redundant characteristics of the system, the ontology attitude zero disturbance control is realized. The simulation of the motion control of 7-joint free floating space robot verifies the effectiveness of this method.