| 空间机械手动力学及轨迹优化问题研究 |
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| 引用本文： | 于开平,邹经湘. 空间机械手动力学及轨迹优化问题研究[J]. 中国机械工程, 2002, 13(9): 740-742 |
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| 作者姓名： | 于开平 邹经湘 |
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| 作者单位： | 哈尔滨工业大学,哈尔滨市,150001 |
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| 基金项目： | 国家自然科学基金资助项目 (19972 0 17) |
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| 摘 要： | 机械手的动力学模型用在连接处施加控制扭矩的2杆模型来模拟，考虑了因整体运动而引起的柔性杆的局部振动问题，使用了基于Hamilton定律的结构动响应算法对模型进行动力学分析。研究了使局部振动最小的整体运动的轨迹优化方案。出末时速度和加速度双变量的优化结果，并与仅仅考虑加速度的单变量优化结果进行了比较。
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| 关 键 词： | Hamilton定律 空间机械手 动力学 轨迹优化 |
| 文章编号： | 1004-132X(2002)09-0740-03 |
Study on Dynamics and Trajectory Optimization of a Space Manipulator |
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| YU Kaiping. Study on Dynamics and Trajectory Optimization of a Space Manipulator[J]. China Mechanical Engineering, 2002, 13(9): 740-742 |
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| Authors: | YU Kaiping |
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| Abstract: | A model of the space manipulator is established with two-link flexible staffs. The motion of the manipulator consists of global motion and the local vibration. Instead of the Runge-Kutta method, an algorithm based on Hamilton law is applied to dynamic analysis of the model. The two- variable optimization scheme of the global motion trajectory is presented with an unknown velocity and acceleration for a minimum local vibration. A comparison of the optimized results using proposed procedure with single variable optimization algorithm is given. |
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| Keywords: | manipulator dynamics trajectory optimization Hamilton law |
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