| 空间三臂机器人在操作中的平衡问题 |
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| 引用本文： | 孙汉旭,姬罗栓,徐扬生.空间三臂机器人在操作中的平衡问题[J].北京邮电大学学报,2002,25(1):34-38. |
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| 作者姓名： | 孙汉旭 姬罗栓 徐扬生 |
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| 作者单位： | 1. 北京邮电大学自动化学院,北京,100876;2. 中国人民解放军陆军廊坊导弹学院基础部,廊坊,102800;3. 香港中文大学自动化与计算机辅助工程系 |
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| 摘 要： | 就三臂空间机器人的一臂与航天器固抓、一臂操作、第三臂作平衡协调操作的问题进行了理论研究,取得了在线动量和角动量守衡意义上的平衡操作结论.对一个在气浮平台上运动的简单的三臂空间机器人的实例进行了仿真计算,证明该方法是可行的.为三臂多关节空间机器人的平衡协调操作提供了一种实用的方法.
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| 关 键 词： | 机器人 三臂空间机器人 平衡 协调操作 |
| 文章编号： | 1007-5321(2002)01-0034-05 |
| 修稿时间： | 2001年4月28日 |
Study of Balance Problem for a Three-Arm Space Robot during Its Manipulation |
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| SUN Han xu ,JI Luo shuan ,XU Yang sheng.Study of Balance Problem for a Three-Arm Space Robot during Its Manipulation[J].Journal of Beijing University of Posts and Telecommunications,2002,25(1):34-38. |
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| Authors: | SUN Han xu JI Luo shuan XU Yang sheng |
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| Affiliation: | SUN Han xu 1,JI Luo shuan 2,XU Yang sheng 3 |
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| Abstract: | The balance problem of a three arm space robot has been discussed during its manipulation. The first arm of the space robot is used to keep connection with the spacecraft (shuttle or space station), the second arm to balances the whole system, and the third arm to manipulate a job. The linear momentum and angular momentum equations and an optimization function have been advanced. An optimization solution of the angles and the angular velocities of those joints of the second arm (the balance arm) according to conservation of the linear momentum and angle momentum of all system have been gotten respectively. One example of a simple three arm space robot on an air bearing table has been simulated and the results simulated have been given out with two pictures. |
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| Keywords: | robots three arm space robot balances manipulation |
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