双臂空间机器人协调操作运动控制仿真系统的设计与实现  

Design and implementation of the coordinated manipulation and motion control of double-arms space robots in simulation system

作　　者：王周益[1] 柳长安[1] 刘继兴[2] 

机构地区：[1]华北电力大学(北京)计算机科学与技术学院,北京102206 [2]中兴通讯股份有限公司,广东深圳518057

出　　处：《计算机应用》2005年第5期1034-1035,1057,共3页journal of Computer Applications

基　　金：国家自然科学基金资助项目(60305009)

摘　　要：阐述了双臂自由飞行空间机器人闭链式协调操作运动控制实验平台的建立方法。将VC++ 6. 0、OpenGL、Matlab和Matcom四种软件融合起来,搭建FFSR(自由飞行空间机器人)系统实验平台;通过运动控制算法描述了机器人双臂协调操作目标物的动态特性,给出了机器人本体中心的位置姿态和转角的变化曲线,验证了该运动控制算法的正确性,以及编程效率的优越性。A method of setting up a experimental platform of loop coordinated manipulation and motion control for double-arms free flying space robots was presented. The FFSR(Free-Flying Space Robots) experimental platform frame in robotic simulation was created by the combination of the (VC++) 6.0,OpenGL,Matlab and Matcom. With the implementation of a resolved motion rate control algorithm, the dynamic process of the robots manipulating the target object coordinately was depicted, and the curves of the position and the angle of the spacecraft were shown, too. The results above verify the effectiveness of the algorithm and the methodology.

关 键 词：双臂自由飞行空间机器人 运动控制 VC++ MATCOM OPENGL 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]