摘要
讨论具有滑移铰的三刚体空间机械臂的逆动力学问题，给出了机械臂末端运动速度与关节铰速度变量之间的运动Ｊａｃｏｂｉ关系，并以此为基础讨论了空间机械臂的分解运动速度控制方法．通过仿真运算，证实了方法的有效性．
In this paper, the inverse dynamics of a space-based manipulator composed of three rigid bodies with prismatic joint is studied, and the Jacobian matrix for space manipulator is derived. A control method for space manipulator based on the resolved motion rate control concept is proposed. It is demonstrated by simulations that the control method is efficient.
出处
《力学与实践》
CSCD
北大核心
2000年第6期28-31,共4页
Mechanics in Engineering
基金
国家自然科学基金重点项目
航空基金自选课题项目资助.
关键词
带滑移铰空间机械臂
逆动力学
分解运动速度控制
航天
space-based manipulator, prismatic joint, inverse dynamics, resolved motion rate contD
