多臂自由飞行空间机器人协调操作动力学分析  

Dynamics control and its simulation of coordination manipulation for multi-arm free-flying space robot

作　　者：李瑰贤[1] 袁景阳[1] 柳长安[2] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]华北电力大学计算机学院,北京102206

出　　处：《哈尔滨工业大学学报》2007年第3期374-377,共4页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金资助项目(60305009)

摘　　要：利用牛顿-欧拉方法分析了多臂自由飞行空间机器人协调操作系统的动力学特性,推导出多臂自由飞行空间机器人协调操作的机械臂铰接连杆间的广义作用力计算方法.通过逐级迭代建立了多臂自由飞行空间机器人系统的动力学方程,进一步得到了驱动电机控制力矩的计算公式.仿真证明多臂自由飞行空间机器人操作的目标物体能够跟踪目标物体的期望位姿.The coordination dynamics character of multi-arm free-flying space robot was analyzed with the approach of Newton-Euler. The calculating method of general force between any two bars connected of FFSR was deduced. The dynamics equation of multi-arm coordinate FFSR was established. Furthermore torques calculation formulation of driving motors of multi-arm space robot was given. The actual trajectory of the object on the object-body coordinated by manipulators can track the desired position and orientation curves through dynamic simulation analysis.

关 键 词：自由飞行空间机器人 协调操作 动力学分析 广义力 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]