【摘要】 分析了自由飞行空间机器人(FFSR)的速度和加速度的关系,推导出两个自由飞行空间机器人(FFSR)协调操作的动力学方程以及各机械臂的关节驱动力矩的计算方法。提出了基于机器人广义雅可比矩阵(GJM)实现对机械臂关节驱动力矩的控制方法。最后,用计算机仿真验证文中提出方案的可行性。更多还原

【Abstract】 The relationship between the speed and acceleration of free-flying space robot(FFSR) is analyzed.The dynamic equations of coordinated manipulation for two free-flying space robots and the calculating method of general force in each joint is established.Using the generalized Jacobian matrix to control the six degrees of freedom space robot is presented.Finally,the computer simulation verfies the effectiveness of the mothod.更多还原