自由飞行空间机器人的关节驱动力矩递推算法及其仿真

由于空间特有的微重力环境和卫星本体重心不固定，机械手和卫星本体之间存在运动学和动力学耦合作用，已有针对地面机器人提出的计算关节力矩的 Ｎｅｗ ｔｏｎ Ｅｕｌｅｒ 法和地面机器人的控制策略不能直接应用于自由飞行空间机器人（ Ｆ Ｆ Ｓ Ｒ）的研究报告．文中首先分析了 Ｆ Ｆ Ｓ Ｒ 的速度和加速度关系，在此基础上建立了计算 Ｆ Ｆ Ｓ Ｒ机械手各链杆的速度和加速度的递推公式；其次基于已有的针对地面机器人提出的 Ｎｅｗ ｔｏｎ Ｅｕｌｅｒ 动力学算法，开发了适用于 Ｆ Ｆ Ｓ Ｒ 的关节驱动力矩的递推算法；最后，用计算机仿真验证了文中提出的关节力矩算法的有效性

RECURSIVE ALGORITHM OF JOINT DRIVING TORQUE AND ITS SIMULATION FOR FREE FLYING SPACE ROBOTS

Because there are special micro gravity environments in the space and the barycenter of the satellite main body isn't fixed, the Newton Euler method to calculate the joint torque proposed by Luh's group and the conventional control strategy for the ground fixed robots can't be directly applied to free flying space robots(FFSR). First, the velocity and acceleration for FFSR are analyzed, and the recursive formula for calculating the velocity and acceleration of the links of FFSR are established. Then, based on the Newton Euler dynamics method for the ground fixed robots proposed by Luh et al , a recursive algorithm of joint driving torque for FFSR is developed. Finally, the computer simulation verifies the effectiveness of the proposed joint torque algorithm.