李华忠, 洪炳熔, 唐好选. 基于关节驱动力矩的自由飞行空间机器人捕捉目标控制算法[J]. 机器人, 2000, 22(3): 161-168.
引用本文: 李华忠, 洪炳熔, 唐好选. 基于关节驱动力矩的自由飞行空间机器人捕捉目标控制算法[J]. 机器人, 2000, 22(3): 161-168.
LI Hua-zhong, HONG Bing-rong, TNA Hao-xuan. CONTROL ALGORITHM BASED ON JOINT DRIVEN TORQUE TO CAPTURE TARGET FOR FREE FLYING SPACE ROBOTS[J]. ROBOT, 2000, 22(3): 161-168.
Citation: LI Hua-zhong, HONG Bing-rong, TNA Hao-xuan. CONTROL ALGORITHM BASED ON JOINT DRIVEN TORQUE TO CAPTURE TARGET FOR FREE FLYING SPACE ROBOTS[J]. ROBOT, 2000, 22(3): 161-168.

基于关节驱动力矩的自由飞行空间机器人捕捉目标控制算法

CONTROL ALGORITHM BASED ON JOINT DRIVEN TORQUE TO CAPTURE TARGET FOR FREE FLYING SPACE ROBOTS

  • 摘要: 本文研究了自由飞行空间机器人(FFSR)关节驱动力矩的求解算法及在其基础上的捕捉目标控制算法.首先,建立了计算FFSR关节驱动力矩的求解算法;其次结合基于广义雅可比矩阵的分解运动速度控制法提出了一种捕捉目标的力矩控制算法;最后,计算机仿真验证了本文提出算法的有效性.

     

    Abstract: This paper studies the computation algorithm of joint driven torque and the control algorithm to capture target for Free Flying Space Robots(FFSR).First, the efficient recursive algorithm of joint driven torque for FFSR is developed. Then, the torque control algorithm combined with Resolved Motion Rate Control(RMRC) based on Generalized Jacobian Matrix (GJM) for capturing target is proposed. Finally, the computer simulation verifies the effectiveness of the proposed method and algorithm.

     

/

返回文章
返回