| 空间机械臂逆动力学问题的解析研究 |
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| 引用本文： | 刘延柱. 空间机械臂逆动力学问题的解析研究[J]. 上海交通大学学报, 1995, 29(4): 1-6 |
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| 作者姓名： | 刘延柱 |
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| 基金项目： | 国家自然科学基金,博士点专项科研基金 |
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| 摘 要： | 本文讨论三刚体空间机械臂的逆动力学问题。利用逐次逼近法导出根据臂端设计轨迹计算机械臂控制规律的解析形式递推公式，并对航天器不受扰条件问题进行了讨论。
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| 关 键 词： | 多刚体动力学 姿态动力学 空间机械臂 航天器 |
An Analytical Study of Inverse Dynamics of Space Manipulator |
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| Liu Yanzhu. An Analytical Study of Inverse Dynamics of Space Manipulator[J]. Journal of Shanghai Jiaotong University, 1995, 29(4): 1-6 |
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| Authors: | Liu Yanzhu |
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| Abstract: | The inverse dynamics of a space-based manipulator composed of three rigid bodiesis studied in the present paper. Recursive formulas of the control law of the manipulator dueto the desired path of the end-effector are obtained in analytical form by the use of the iteration method, and the problem of no-disturbance conditions of the spacecraft is discussed. |
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| Keywords: | attitude dynamics multibody dynamics space manipultator iteration method |
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