机器人2012，Vol.34Issue(1)：38-43,6.DOI:10.3724/SP.J.1218.2012.00038
自由漂浮空间机器人回避动力学奇异的轨迹规划
Trajectory Planning of Free-floating Space Robot with Avoidance of Dynamic Singularity
摘要
Abstract
Aiming at the dynamic singularity of generalized Jacobian matrix caused by non-holonomic constraints in free-floating space robots, an approach of indirectly solving robot inverse kinematics is presented. With the decomposed kinematics equation and the constructed iterative function, the approach transforms the dynamic singularity into kinematic singularity, avoids directly solving inverse generalized Jacobian matrix, and resolves the dynamic parameter relativity prob-lem caused by generalized Jacobian matrix singularity. Numerical simulations demonstrate that the approach achieves the non-holonomic trajectory planning of free floating space robot with avoidance of dynamic singularity effectively.关键词
自由漂浮空间机器人/动力学奇异/非完整/轨迹规划Key words
free-floating space robot/ dynamic singularity/ non-holonomic/ trajectory planning分类
信息技术与安全科学引用本文复制引用
张福海,付宜利,王树国..自由漂浮空间机器人回避动力学奇异的轨迹规划[J].机器人,2012,34(1):38-43,6.基金项目
国家自然科学基金资助项目(60975063). （60975063）
