Modeling and Simulation of Continual Motion Trajectory Control for Space Robot
LI Hua-zhong1, Liang Yong-sheng1, HONG Bing-rong2
1. Department of Software Engineering, Shenzhen Institute of Information Technology, Shenzhen 518029, China; 2. Department of Computer, Harbin Institute of Technology, Harbin 150006, China
李华忠, 梁永生, 洪炳熔. 空间机器人连续运动轨迹控制建模和仿真研究[J]. 机器人, 2008, 30(5): 410-415..
LI Hua-zhong, Liang Yong-sheng, HONG Bing-rong. Modeling and Simulation of Continual Motion Trajectory Control for Space Robot. ROBOT, 2008, 30(5): 410-415..
Abstract:Based on the common D-H modeling methods for ground robot and the conservation of momentum and conservation of angular momentum suitable for SR(space robot),continuous motion trajectory control modeling algorithm for SR is developed.First,kinematics model for SR is developed based on the idea of the ground-based Jacobian and D-H method.Second,an effective algorithm for controlling continuous motion trajectory and calculating generalized Jacobian matrix is developed for SR.Finally,validity of the algorithms proposed is verified through the computer simulation.The SR conceptual model and kinematics model based on the D-H method in this paper can be extended to any SR with tree structure link containing rotary joints and translational joints.
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