| 空间机械手捕捉目标的运动控制策略 |
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| 引用本文： | 吴为民,洪炳熔.空间机械手捕捉目标的运动控制策略[J].哈尔滨工业大学学报,1997,29(2):47-49. |
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| 作者姓名： | 吴为民 洪炳熔 |
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| 摘 要： | 首先讨论了空间机械手的运动特点及其各自由工作空间的划分。在此基础上，研究了空间机械手捕捉静态和运动目标的运动控制问题，提出了在各种情况下的运动控制策略，并通过计算机仿真进行了验证。所提出的运动控制策略充分利用了空间机械手的非完整冗余性，使空间机械手能在最大可达空间内进行捕捉目标操作。
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| 关 键 词： | 空间机械手 捕捉目标 运动控制策略 机械手 |
Motion Control Strategies of Space Manipulators to Capture a Target |
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| Wu Weimin Hong,Bingrong,Zhu Tieyi.Motion Control Strategies of Space Manipulators to Capture a Target[J].Journal of Harbin Institute of Technology,1997,29(2):47-49. |
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| Authors: | Wu Weimin Hong Bingrong Zhu Tieyi |
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| Affiliation: | Dept. of Computer Science and Engineering |
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| Abstract: | Space manipulator ' s motion characteristics and its free workspace division are dis- cussed. The problem of motion control of space manipulators to capture static and moving tar- gets is studied. Motion control strategies are presented according to different situations, which are verified by computer simulation . The presented motion control strategies, making full use of nonholonomic characteristics of space manipulators, enable the space manipulator to capture a target within maximum space. |
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| Keywords: | Space manipulator: workspace: resolved motion rate control (RMRC) generalized Jacobian matrix(GJM) |
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