空间机器人连续运动轨迹控制建模和仿真研究  

Modeling and Simulation of Continual Motion Trajectory Control for Space Robot

作　　者：李华忠[1] 梁永生[1] 洪炳熔[2] 

机构地区：[1]深圳信息职业技术学院软件工程系,广东深圳518029 [2]哈尔滨工业大学计算机科学与工程系,黑龙江哈尔滨150006

出　　处：《机器人》2008年第5期410-415,共6页Robot

基　　金：国家自然科学基金(69985002);国家863计划资助项目(2001AA422270)

摘　　要：基于地面机器人常用的D-H建模方法和空间机器人(SR)满足的动量守恒和角动量守恒原理,提出了SR连续运动轨迹控制建模算法.首先基于地面机器人雅可比矩阵的思想和D-H法,建立了适用于空间机器人的运动学模型;其次研究了空间机器人的广义雅可比矩阵计算及其连续运动轨迹控制的有效算法;最后通过计算机仿真验证了所提出算法的有效性.本文基于D-H方法的SR概念模型和运动学模型可推广到包含旋转关节和平移关节的树型结构链杆的任何SR.Based on the common D-H modeling methods for ground robot and the conservation of momentum and conservation of angular momentum suitable for SR （space robot）, continuous motion trajectory control modeling algorithm for SR is developed. First, kinematics model for SR is developed based on the idea of the ground-based Jacobian and D-H method. Second, an effective algorithm for controlling continuous motion trajectory and calculating generalized Jacobian matrix is developed for SR. Finally, validity of the algorithms proposed is verified through the computer simulation. The SR conceptual model and kinematics model based on the D-H method in this paper can be extended to any SR with tree structure link containing rotary joints and translational joints.

关 键 词：空间机器人 运动学建模 轨迹控制 广义雅可比矩阵 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]