单臂式空间机械臂捕捉空间目标问题研究  

THE RESEARCH OF IMPACT ISSUES DURING SINGLE-ARM SPACE MANIPULATOR CAPTURING OBJECT

作　　者：丛佩超[1] 孙兆伟[1] 

机构地区：[1]哈尔滨工业大学卫星技术研究所,哈尔滨150080

出　　处：《动力学与控制学报》2009年第1期45-49,共5页Journal of Dynamics and Control

基　　金：国家高技术研究发展计划(863)资助项目(2005AA742014)~~

摘　　要：以空间机械臂系统的动量守恒关系式为基础,对空间机械臂抓取空间目标过程中的碰撞问题进行了分析,提出了"直臂抓取"与"广义直臂抓取"概念,详细推导了满足基座质心、系统质心及工作端点共线的机械臂构型,得到了碰撞力方向矢量与基座、系统质心重合的角度关系式.满足关系式的空间机械臂构型可有效的减少碰撞力对于系统角动量的影响,进而避免混合体控制问题的关节限制与力矩限制.通过仿真验证了方法的有效性.Based on momentum conservation, the impact issues of space were analyzed,and the concept of ＂straight-arm capture＂ and ＂generalized manipulator during capture operation straight-arm capture＂ was proposed The manipulator configuration, which can meet the requirement on the centroid of base and system, and on end-effector in a line was derived, and the corresponding angular relationship was obtained. The manipulator pre-impact configuration that satisfied the above relationship can reduce the effect of impact force on system＇ s angular momentum, and avoid the limit of joint and torque when controlling the compound. The simulation show the effectiveness of the method.

关 键 词：空间机械臂 机械臂构型 直臂抓取 角动量 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] O313.2[自动化与计算机技术—控制科学与工程]