| 刘福才,高娟娟,王跃灵.重力对空间机械臂运动控制的影响[J].高技术通讯(中文),2012,22(9):944~950 |
| 重力对空间机械臂运动控制的影响 |
| Effects of gravity on the motion control of a space manipulator |
| 修订日期：2011-10-20 |
| DOI： |
| 中文关键词: 空间机械臂， 地面装调， 空间应用， 重力项， 运动控制 |
| 英文关键词: space manipulator, ground alignment, space applications, gravity items, motion control |
| 基金项目:863计划资助项目 |
| 作者 | 单位 | | 刘福才 | 燕山大学工业计算机控制工程河北省重点实验室 | | 高娟娟 | 燕山大学工业计算机控制工程河北省重点实验室 | | 王跃灵 | 燕山大学工业计算机控制工程河北省重点实验室 |
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| 中文摘要: |
| 为研究空间机械臂系统在重力条件下的地面装调阶段和微重力条件下的空间应用阶段重力项的变化对其运动控制的影响，以n自由度自由漂浮空间机械臂为研究对象，分别分析了空间机械臂在地面装调重力条件和空间应用微重力条件下的运动特点，建立了系统的运动学模型，同时运用拉格朗日方程推导了系统的动力学模型，并以三自由度自由漂浮空间机械臂为例，分别对其在地面装调阶段和空间应用阶段的动力学特性和轨迹跟踪控制进行仿真研究，仿真结果表明重力项对空间机械臂运动控制的驱动力矩及轨迹跟踪精度均有影响。 |
| 英文摘要: |
| To investigate the effects of the variation of gravity items of a space manipulator on its motion control during its ground alignment under gravity environment and space applications under microgravity environment, a n DOF free floating space manipulator system was taken as the control object, and a kinematic model was established through analyzing its kinematic characteristics under the conditions of microgravity and gravity, respectively. Furthermore, the dynamic equation of the n DOF manipulator system was established by the Lagrangian approach. And a three DOF free floating space manipulator was studied by this paper simulation on its dynamic characteristics and trajectory tracking during both ground alignment under gravity environment and space applications under microgravity environment. The simulation results showed that the driving torque and the trajectory tracking accuracy of the n DOF manipulator were influenced by gravity items. |
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