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. ROBOT, 2000, 22(3): 161-168..
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.
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