| 空间机器人目标捕获的零扰动方向分析 |
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| 引用本文： | 税海涛,彭胜军,杨庆,马宏绪.空间机器人目标捕获的零扰动方向分析[J].控制工程,2011,18(3):444-447. |
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| 作者姓名： | 税海涛 彭胜军 杨庆 马宏绪 |
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| 作者单位： | 1. 国防科技大学,机电工程与自动化学院,湖南,长沙,410073
2. 装备指挥技术学院,航天装备系,北京,101416 |
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| 基金项目： | 国家863高技术研究计划(2007AA041603) |
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| 摘 要： | 空间机器人在执行捕获任务时目标与机械臂的碰撞给基座带来的姿态扰动是致命的针对目标捕获时基座姿态扰动最小化问题,在建立了自由飘浮空间机器人捕获目标动力学模型的基础上,提出了自由飘浮状态下基座零扰动冲击方向的概念,给出了捕获过程中基座姿态无扰的条件是碰撞冲击力方向与基座零扰动冲击方向一致,并用角动量的分布与传递解释了零扰动...
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| 关 键 词： | 空间机器人 目标捕获 零扰动方向 |
Analysis of Zero-Disturbance Direction for Space Robots During Target Capture |
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| SHUI Hai-tao,PENG Sheng-jun,YANG Qing,MA Hong-xu.Analysis of Zero-Disturbance Direction for Space Robots During Target Capture[J].Control Engineering of China,2011,18(3):444-447. |
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| Authors: | SHUI Hai-tao PENG Sheng-jun YANG Qing MA Hong-xu |
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| Affiliation: | SHUI Hai-tao1,PENG Sheng-jun1,YANG Qing2,MA Hong-xu1(1.College of Electromechanical Engineering & Automation,National University of Defense Technology,Changsha 410073,China,2.Department of Space Equipment,Academy of Equipment Command & Technology,Beijing 101416,China) |
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| Abstract: | The attitude disturbance problem caused by the impact between the manipulator and the target in the target capture by a space robot is discussed.The dynamics of the free-floating space robot for capturing targets is established.Then the concept of the zero disturbance direction is presented,and the condition for zero disturbance of the base during target capture is given as the impulse consisting with the zero disturbance direction.Using the transfer and distribution of the angular momentum,the physical mea... |
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| Keywords: | space robot target capture zero disturbance direction |
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