陈钢, 贾庆轩, 孙汉旭, 洪磊. 空间机器人目标捕获过程中碰撞运动分析[J]. 机器人, 2010, 32(3): 432-438.
引用本文: 陈钢, 贾庆轩, 孙汉旭, 洪磊. 空间机器人目标捕获过程中碰撞运动分析[J]. 机器人, 2010, 32(3): 432-438.
CHEN Gang, JIA Qingxuan, SUN Hanxu, HONG Lei. Analysis on Impact Motion of Space Robot in the Object Capturing Process[J]. ROBOT, 2010, 32(3): 432-438.
Citation: CHEN Gang, JIA Qingxuan, SUN Hanxu, HONG Lei. Analysis on Impact Motion of Space Robot in the Object Capturing Process[J]. ROBOT, 2010, 32(3): 432-438.

空间机器人目标捕获过程中碰撞运动分析

Analysis on Impact Motion of Space Robot in the Object Capturing Process

  • 摘要: 针对空间机器人目标捕获过程中的碰撞问题,提出了一种碰撞运动分析算法.基于空间机器人运动学和动力学模型,利用碰撞过程中产生冲量的原理建立了碰撞动力学模型.针对具体的碰撞模型,利用空间解析几何的方法进行了空间机器人与目标物之间的碰撞检测,设计了碰撞发生后机器人的运动分析算法.最后,通过仿真实验验证了该算法的正确性和适用性.

     

    Abstract: An impact motion analysis algorithm is presented aiming at impact of space robot in the process of object capturing.Based on kinematic and dynamic model of space robot,impact dynamic model is built by using the impulse principle of the collision process.For a specific collision model,collision detection between the space robot and the object is achieved by analytic geometry and the post-collision motion analysis algorithm is designed.Finally,the correctness and applicability of the algorithm are manifested by simulation and experiment.

     

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