| 漂浮机械臂调整载体姿态的研究 |
| |
| 引用本文： | 谭朝阳.漂浮机械臂调整载体姿态的研究[J].机械科学与技术(西安),2002,21(6):871-873. |
| |
| 作者姓名： | 谭朝阳 |
| |
| 作者单位： | 中山学院电子工程系 中山528402 |
| |
| 摘 要： | 推导了漂浮多体系统动量矩守恒方程及动力学方程。运用机械臂的协调运动实现对载体位姿的调整 ,以及调整载体姿态的铰空间闭曲线方法。文中附有算例
|
| 关 键 词： | 无根多体系统 姿态调整 机械臂 |
| 文章编号： | 1003-8728(2002)06-0871-03 |
| 修稿时间： | 2001年5月15日 |
On Attitude Regulation of a Floating Multibody System by a Manipulator |
| |
| TAN Zhao,yang.On Attitude Regulation of a Floating Multibody System by a Manipulator[J].Mechanical Science and Technology,2002,21(6):871-873. |
| |
| Authors: | TAN Zhao yang |
| |
| Abstract: | The nonholonomic constrain equation and dynamical control equations of a floating multibody system are derived in this paper. The vehicle's attitude is regulated by a manipulator, and the regulation is achieved by the manipulator's coordinated motion along a closed curve in the joint space. The regulation law is derived, and a numerical example is given. |
| |
| Keywords: | Floating multibody system Attitude regulation Manipulator |
| 本文献已被 CNKI 维普 等数据库收录！ |
