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为了减轻在无外力情况下,空间操作臂系统的操作臂与载体之间的动力学耦合作用,结合增广体、虚拟操作臂及动力学等价操作臂理论,将系统转化为一个具有等效运动学及动力学的基座固定的操作臂系统,使得固定基座操作臂系统的建模方法可以直接应用到空间操作臂系统中,将高效率动力学建模方法空间算子代数理论应用到空间操作臂系统建模中,从而解决空间操作臂系统动力学建模复杂及效率不高的问题,易于计算工作空间,为实时控制奠定了基础.
In order to reduce the dynamic coupling between the operating arm and the carrier of the space manipulator system in the absence of any external force, the system is transformed into an equivalent manipulator with augmented body, virtual manipulator and kinematic equivalent manipulator. Kinematics and dynamics of the fixed base operating arm system, making fixed base operating arm system modeling method can be directly applied to the space manipulator system, the efficient dynamics modeling method of space operator algebra theory is applied to Space manipulator system modeling, so as to solve the problem of complex and inefficient modeling of space manipulator system dynamics, easy to calculate the working space, and laid the foundation for real-time control.