| 基于最优控制的空间机械手运动规划研究 |
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| 引用本文： | 戈新生.基于最优控制的空间机械手运动规划研究[J].北京机械工业学院学报,1998,13(2):37-41. |
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| 作者姓名： | 戈新生 |
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| 作者单位： | 北京机械工业学院基础部 |
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| 摘 要： | 利用多体系统动力学方法导出机械手系统非完整约束方程，再根据最优控制方法，讨论空间机械手系统载体姿态与机械手关节运动的优化控制问题，并通过仿真算例验证了该方法的有效性。
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| 关 键 词： | 空间机械臂 姿态动力学 最优控制 机械手 |
BASED ON OPTIMAL CONTROL TO STUDY OF MOTION PLANNING OF SPACE MANIPULATOR |
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| Ge Xinsheng.BASED ON OPTIMAL CONTROL TO STUDY OF MOTION PLANNING OF SPACE MANIPULATOR[J].Journal of Beijing Institute of Machinery,1998,13(2):37-41. |
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| Authors: | Ge Xinsheng |
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| Affiliation: | Ge Xinsheng Department of Basic courses,Beijing Institute of Machineny,Beijing 100085 |
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| Abstract: | Utilizing the dynamics method of multibody system,the equation with nonholonomic constraint of space manipulator system is obtained.In terms of optimal control method,the problem of optimal control for the main body attitude and manipulator joints motion are dis- cussed.It is demonstrated by the simulation that optimal control method is efficient. |
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| Keywords: | space manipulator attitude dynamics optimal control |
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