航天器工程2011，Vol.20Issue(4)：79-85,7.
基于蒙特卡洛法的空间机器人工作空间计算
Calculation of Space Robot Workspace by Using Monte Carlo Method
摘要
Abstract
Workspace is one of the most important kinematics parameters to evaluate the ability of the robot.Considering the dynamic coupling,the analysis is much more complicated for the space robot than that for the robot on ground.The research mainly adopts geometric analysis method,but its development is limited by the degree of freedom（DOF）.In order to overcome the limitation,the paper proposes a numerical method which applies Monte Carlo method to analyze the workspace of the space robot.Firstly,this paper sets up a kinematics model of the space robot by virtual manipulator modeling,and derives the kinematics functions when the robot is in the modes of spacecraft pose-controlled,free-flying and free-floating.Then,a novel method to analyze the workspace of the space robot by using Monte Carlo method is proposed,and the major steps for this method are listed.Finally,two examples are given,in which the workspaces of a planar 3-DOF space robot in free-flying mode and a space 3-DOF robot in free-floating mode are calculated.The experimental results show that by using the proposed method the analysis of space robot workspace is accurate and quick,and the tough issue of workspace analysis for the multi-DOF space robot can be solved.关键词
空间机器人/工作空间/蒙特卡洛法/虚拟机械臂/仿真Key words
space robot/workspace/Monte Carlo method/virtual manipulator/simulation分类
航空航天引用本文复制引用
李保丰,孙汉旭,贾庆轩,陈钢..基于蒙特卡洛法的空间机器人工作空间计算[J].航天器工程,2011,20(4):79-85,7.基金项目
中国教育和科研计算机网络中心资助的“教育科研基础设施IPv6技术升级与应用示范”项目的子项目“下一代互联网虚拟现实科研交流平台应用示范” （）
中央高校基本科研业务费资助（2009RC0603） 中央高校基本科研业务费专项资金 （）
