空间机器人的动力学等价机械臂
Dynamically Equivalent Manipulator for a Space Manipulator
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摘要: 讨论了如何将一个自由飘浮空间机器人(SM)等价成一个通常固定基座上的机器 人,将其定义为动力学等价机械臂(DEM),并阐述了DEM与SM运动学与动力学的等价性. 通过仿真验证了在闭环控制下DEM与SM的等价性.Abstract: In this paper, we discuss the problem of how a free-floating space manipulator can be mapped to a conventional, fixed-based manipulator which is called the dynamically equivalent manipulator(DEM). This paper presents the theoretical development of the DEM concept, demonstrates the dynamic and kinematic equivalence, and presents simulation results to illustrate the equivalence in close-loop control.
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Key words:
- Space manipulator /
- dynamics /
- variable structure control
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