| 空间机器人地面试验系统建模与规划 |
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| 引用本文： | 颜世佐,谢箭,强文义.空间机器人地面试验系统建模与规划[J].控制工程,2009,16(2). |
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| 作者姓名： | 颜世佐 谢箭 强文义 |
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| 作者单位： | 哈尔滨工业大学,惯导中心,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 在空间机器人研究中,空间机器人的地面试验是必不可少的,通过地面试验系统模拟空间环境,可以进行实验,验证空间系统上所采用的理论、方法是否合理,为下一步的空间实验提供依据.为了给下一步的研究提供平台,针对小型智能空间机器人系统的气浮地面实验系统采用拉格朗日法建立系统的运动学、动力学模型,采用5-3-5混合插值法进行了路径规划,通过仿真试验,验证了空间建模理论和规划方法的正确性,为空间机器人实验的改进提供了依据.
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| 关 键 词： | 空间机器人 地面试验 路径规划 |
Modeling and Programming of Space Robotics Based on Ground Experimental System |
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| YAN Shi-zuo,XIE Jian,QIANG Wen-yi.Modeling and Programming of Space Robotics Based on Ground Experimental System[J].Control Engineering of China,2009,16(2). |
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| Authors: | YAN Shi-zuo XIE Jian QIANG Wen-yi |
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| Affiliation: | Space Control and Inertial Technology Research Centre;Harbin Institute of Technology;Harbin 150001;China |
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| Abstract: | The ground experiment is essential in the space robotics researches. Theories and methods applied to the space system can be verified in the simulated micro-gravity environment provided by the ground experimental system. The kinematic and dynamic models of the air-bearing experimental system for space robot are deduced by using the Lagrange method. The path planning is performed on this ground experimental system by the 5-3-5 interpolation method. The simulation results show that the proposed spatial modeli... |
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| Keywords: | space robotics ground experiments path planning |
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