双臂式空间机械臂捕捉目标问题

基于动量守恒关系,分析了空间机械臂抓取目标过程中的碰撞问题.针对单臂式系统提出了直臂抓取与广义直臂抓取构型,并将后者推广到双臂式空间机械臂系统.利用广义直臂抓取方法得到的空间机械臂构型,可有效减少碰撞作用对于空间机械臂系统角冲量、基座姿态的影响,保证了系统的稳定性,克服了控制算法中存在的构件转角和执行机构力矩限制问题.仿真证明了方法的有效性。

The impact phenomenon of space manipulator capturing object was analyzed based on the momentum conservation principle of space manipulator.The configuration of "straight-arm capture(SAC)" and "generalized straight-arm capture(GSAC)" was proposed and extended to a dual-arm system.The proposed pre-impact configuration can reduce the effect of impact force on angular momentum,and guarantee the stability of system,then avoid the limit of joint velocity and actuator torque when controling the compound.Finally,th...

国家高技术研究发展计划(863)资助项目(2005AA742014)