中国机械工程2016，Vol.27Issue(15)：2118-2129,12.DOI:10.3969/j.issn.1004-132X.2016.15.023
漂浮基空间机械臂动力学问题研究进展
Advances in Researches of Dynamics Problems for Free-floating Manipulator
摘要
Abstract
The base of space manipulator kept in a free-floating state,which caused the kinematics and dynamics coupling between the base and manipulator and made that it was more complicated than the ground manipulator for the analyses of kinematics and dynamics as well as control,and it was a difficult and hot spot to establish accurate dynamics model and control strategies for space manipula-tor.The dynamics modeling methods as well as fine dynamics modeling were reviewed in detail herein,and the path planning methods such as attitude adj ustment,nonholonomic path planning,sin-gularities avoidance were summarized.Then the impact dynamics modeling as well as control in captu-ring a target for space manipulator were summarized.Based on the studies mentioned above,the prob-lems of present dynamics modeling were pointed out,and some topics to be further studied were pre-dicted.关键词
空间机械臂/动力学建模/捕获目标/接触碰撞Key words
space manipulator/dynamics modeling/capturing a target/contact collision分类
机械制造引用本文复制引用
谷勇霞,张玉玲,赵杰亮,阎绍泽..漂浮基空间机械臂动力学问题研究进展[J].中国机械工程,2016,27(15):2118-2129,12.基金项目
高等学校博士学科点专项科研基金资助项目(20120002110070) （20120002110070）
国家自然科学基金资助项目(11272171) （11272171）
