双臂式空间机械臂捕捉目标的碰撞问题研究  

Research of Impact Issues During Dual-arm Space Manipulator Capturing Object

作　　者：丛佩超[1,2] 孙兆伟[2] 

机构地区：[1]辽宁工程技术大学机械学院,辽宁阜新123000 [2]哈尔滨工业大学卫星技术研究所,黑龙江哈尔滨150080

出　　处：《四川大学学报（工程科学版）》2010年第4期234-241,共8页Journal of Sichuan University (Engineering Science Edition)

基　　金：国家高技术863计划资助项目(2005AA742014)

摘　　要：研究了双臂及多臂式空间机械臂抓取目标的碰撞问题,将"广义直臂抓取"推广到双臂及多臂式系统。利用满足"广义直臂抓取"的机械臂构型进行目标抓取,可有效地减少碰撞作用对于空间机械臂系统角动量、基座姿态的影响,保证了系统的稳定性,克服了一些控制算法中存在的关节限制问题。最后,提出了一种特殊的双臂式空间机械臂抓取目标策略,该策略在实现抓取目的的同时,可有效地控制基座的姿态。The impact issues during dual-arm or multi-arm space manipulator capturing object was studied by extending the concept of ＂Generalized Straight-Arm Capture（GSAC）＂ to a dual-arm system. The configuration satisfied ＂GSAC＂ can reduce the effect of impact force,and guarantee the stability of system,then avoids the limit of joint velocity when control the compound. Finally,one unique strategy of capturing object was proposed,which accomplishes the capture and controls the attitude of base effectively.

关 键 词：空间机械臂 动量守恒 机械臂构型基 座姿态 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]