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以Lyapunov方法为基础,讨论了载体姿态与位置均不受控制的双臂空间机器人系统的避障碍分级非完整运动规划问题．该方法充分利用系统的非完整动力学性质,以系统动量矩守恒关系及运动Jacobi关系为基础,建立控制设计所需的系统状态方程及控制输出方程;并在Lyapunov函数的选取上采用两级采取方式,即初级Lyapunov函数确保双臂空间机器人的两个末端抓手从初始位置运动到指定的终点位置,次级Lyapunov函数则确保两个末端抓手避开工作空间中的障碍区域;两级合成则使双臂空间机器人的两个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．
Based on the Lyapunov method, the hierarchical nonholonomic motion planning of obstacle avoidance in dual-arm space robot system with uncontrolled attitude and position is discussed. The method makes full use of the nonholonomic dynamics of the system, establishes the system state equation and the control output equation which are necessary for the control design based on the conservation of the system momentum moment and the Jacobi motion. The Lyapunov function is chosen by adopting two levels The primary Lyapunov function ensures that the two end fingers of a dual-arm space robot move from the initial position to the specified end position. The secondary Lyapunov function ensures that the two end fingers avoid the obstacle region in the workspace. The two- The two end grabbers of the dual-arm space robot are allowed to move both the specified position and the obstacle area. The numerical simulation of the system proves the effectiveness of the method.