摘要
自由飞行空间机器人的姿态控制可考虑利用反作用轮或反作用喷气装置以维持机器人本体姿态不变 ,但这种方法存在的最大问题是消耗燃料 ,直接影响机器人的轨道寿命 ,同时对系统产生振动而导致系统不稳定。为此本文提出了另一种新的方案 ,即基于受限最小干扰图的姿态控制方案。这种方案不使用反作用轮或反作用喷气装置 ,而通过规划机械手末端的运动轨迹 ,使机器人的本体姿态在机械手动作过程中基本保持不变。为验证本文提出的姿态控制方案的可行性及有效性 ,本文在计算机上做了仿真实验 。
Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free flying space robot.However,this method consumes large sum of fuel,shortens the life span of space robot and makes the system unsteady.In this paper,Restricted Minimum Disturbance Map(RMDM) based scheme of attitude control is presented to keep the attitude of the base fixed during the movement of the manipulator via planning motion trajectory of the end effector of manipulator without using reaction wheel or reaction thruster.In order to verify the feasibility and effectiveness of the attitude control scheme presented in this paper,computer simulation experiments have been made and the experimental results demonstrate that the scheme is feasible.
出处
《宇航学报》
EI
CSCD
北大核心
2000年第2期21-28,共8页
Journal of Astronautics
基金
863国家高技术航天领域计划项目资助! ( 863 -2 -4 -1 -2 )
关键词
自由飞行空间机器人
姿态干扰
姿态控制
Free flying space robot\ Attitude disturbance\ Attitude control\ Restricted minimum disturbance map
