空间自由漂浮机器人运动计算机仿真  

Computer simulation on the movements of free floating space robot

作　　者：张延恒[1] 孙汉旭[2] 贠超[1] 贾庆轩[2] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083 [2]北京邮电大学自动化学院,北京100876

出　　处：《机械设计》2007年第1期9-12,共4页Journal of Machine Design

基　　金：国家高技术发展计划863计划资助项目(2005AA742050)

摘　　要：通过对空间自由漂浮机器人系统的运动特性的分析,建立了基于视觉反馈的实时目标跟踪控制算法,构建了基于实际电机的关节电机闭环控制模型。并在VC环境下建立了一个基于Open GL的机器人可视化仿真系统,利用该系统建立动力学模型。该仿真系统可以对空间自由漂浮机器人机械臂运动时基座姿态及位置的变化进行模拟。最后在此仿真系统上进行了运动学和动力学仿真实验,验证了系统数学模型的有效性和准确性。By means of motion property analysis on the free floating space robot system, this paper established a controlling algorithm of real-time object tracking based on vision feedback, and constructed the closed circuit controlling model of joint motor based on actual motor. A robotic visualized simulative system was established based on OpenGL under the VC environment. By the use of the being established systematic dynamics model this simulative system could carrying out simulation on the variations of the posture and position of pedestal while the mechanical arm of free floating space robot is moving. Finally, the kinematics and kinetics simulation tests were carried out on this simulative system, and the effectiveness and accuracy of the systematic mathematical model were verified.

关 键 词：自由飘浮空间机器人 计算机仿真 视觉反馈 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]