| 基于Vega的双臂空间机器人飞行及捕捉目标的轨迹规划仿真 |
| |
| 引用本文： | 郭琦,洪炳镕,王晶. 基于Vega的双臂空间机器人飞行及捕捉目标的轨迹规划仿真[J]. 机器人, 2005, 27(5): 385-389 |
| |
| 作者姓名： | 郭琦 洪炳镕 王晶 |
| |
| 作者单位： | [1]哈尔滨工业大学计算机科学与工程系,黑龙江哈尔滨150001 [2]大庆力神泵业有限公司,黑龙江大庆163000 |
| |
| 基金项目： | 国家863计划资助项目（863-24-1-2）. |
| |
| 摘 要： | 提出了一种利用Vega来实现双臂空间机器人飞行及捕捉目标的轨迹规划仿真系统．简要介绍了仿真系统的开发环境及其实现方法．该仿真系统在SGI工作站上， 利用Multigen Creator 建模工具和三维视景仿真软件Vega来实现空间机器人本体及被捕捉目标的建模和仿真， 能为机器人的轨迹规划、运动学分析和运动控制的算法设计提供重要信息， 并能对其理论和算法的可行性加以验证．
|
| 关 键 词： | 双臂空间机器人 轨迹规划 仿真 Vega |
| 文章编号： | 1002-0446（2005）05-0385-05 |
| 收稿时间： | 2004-12-26 |
| 修稿时间： | 2004-12-26 |
Vega-based Trajectory Simulation for Dual-arm Space Robot to Fly and Capture an Object |
| |
| GUO Qi,HONG Bing-rong,WANG Jing. Vega-based Trajectory Simulation for Dual-arm Space Robot to Fly and Capture an Object[J]. Robot, 2005, 27(5): 385-389 |
| |
| Authors: | GUO Qi HONG Bing-rong WANG Jing |
| |
| Affiliation: | GUO Qi~1,HONG Bing-rong~1,WANG Jing~2 |
| |
| Abstract: | A trajectory simulation planning system based on Vega for dual-ann space robot to capture an object is presented. The development environment and realization method of the simulation system are introduced briefly. This simulation system runs on SGI workstation, and makes use of Multigen Creator modeling tool and the three-dimension vision simulation software Vega to realize the modeling and simulation of the robot body and the captured target. This simulation system can provide important information for robot trajectory planning, kinematics analysis and motion control algorithra design, and can be used to valldate the feasibility of theory and algorithms. |
| |
| Keywords: | dual-arm space robot trajectory planning simulation Vega |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《机器人》浏览原始摘要信息 |
|
点击此处可从《机器人》下载全文 |
