自由飘浮空间机器人系统基座姿态调整

规划机械臂的运动以调整作为其基座的卫星的姿态，既节约姿控燃料，又可作为常规姿控系统的备份手段．首先，建立自由飘浮空间机器人系统的状态方程，其状态变量为关节角和卫星姿态角，输入变量为关节角速度．基于系统能控性理论，规划连接系统初始状态和期望状态的路径，实现了仅通过机械臂关节的运动同时控制基座姿态和机械臂关节角的目的．从理论上分析了机械臂的能量消耗，给出了使能量指标最小的近似最优算法．仿真结果表明了该方法的有效性．

Path Planning for Base Attitude Adjustment of a Free-floating Space Robot System

The manipulator motion is planned to adjust the satellite attitude, which is the base of the manipulator. The method not only saves the propellant used for the attitude control, but also can serve as a backup means for the conventional attitude control system. Firstly, the state equation of the free-floating space robot system is established with the joint angles and the satellite attitude as its state variables, and the joint angular velocities as its input variables. Based on the theory of system controllability, the path connecting the system initial state with the desired state is planned, and the satellite attitude and joint angle can be controlled at the same time only using the manipulator joint motion. Lastly, the energy consumption is analyzed theoretically, and the near optimal algorithm to minimize the power cost function is presented. The numerical simulation results show the validity of the method.