空间机械臂全局反作用优化及其地面试验研究

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史士财, 吴剑威, 崔平远, 刘宏. 空间机械臂全局反作用优化及其地面试验研究[J]. 机器人, 2009, 31(3): 242-247,253.. SHI Shi-cai, WU Jian-wei, CUI Ping-yuan, LIU Hong. Global Reaction Optimization of Space Manipulator and Its Ground Test. ROBOT, 2009, 31(3): 242-247,253..

摘要针对空间机械臂在运动过程中对其基座产生力/力矩反作用这一问题进行了分析，并提出一种关节轨迹参数化的全局反作用优化方法，用于减小机械臂的反作用力/力矩．基于气浮轴承方法，建立了3自由度空间机械臂反作用优化地面实验系统．最后，采用3自由度机械臂验证了该方法的有效性．

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	史士财
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	刘宏

关键词 ：空间机械臂, 飞行器, 反作用优化, 轨迹规划, 气浮轴承

Abstract：When space manipulator moves,it will bring force/torque reactions to the spacecraft.This paper analyzes the problem,and proposes a global reaction optimization method of parameterized joint trajectory,which can reduce the force and torque reactions caused by the space manipulator.Based on air bearings,a ground experiment system for optimizing the 3-DOF space manipulator reaction is set up.At last,3-DOF manipulator is used to verify the validity of the proposed method.

Key words： space manipulator spacecraft reaction optimization trajectory planning air bearing

收稿日期: 2008-09-26

TP242

基金资助:国家863计划资助项目（2006AA04Z228）；中国博士后科学基金资助项目（20080430131）；黑龙江省博士后基金资助项目（LBH-Z07171）

作者简介: 史士财（1978- ），男，博士，讲师．研究领域：机器人技术．
吴剑威（1981- ），男，博士生．研究领域：机器人运动规划．
崔平远（1965- ），男，博士，教授．研究领域：飞行器动力学与控制，深窄探测器轨道设计、自主导航与控制．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I3/242

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