空间机器人双臂捕获卫星力学分析及镇定控制力学学报.PDF

48 4 Vol. 48 No. 4 2016 7 Chinese Journal of Theoretical and Applied Mechanics July2016 1) 2) (, 350116) . . . . . -- . . H . H . . . TP241 A doi 101879-16-156 MECHANICAL ANALYSIS AND CALM CONTROL OF DUAL-ARM SPACE ROBOT FOR CAPTURING A SATELLITE 1) Cheng Jing Chen Li2) (School of Mechanical Engineering and Automation Collaborative Innovation Center of High End Equipment Manufacturing Fuzhou University Fuzhou 350116 China) Abstract As the technology of space science develops rapidly, space robot system is expected to capture the non- cooperative satellite on-orbit. Space robot with dual-arm obviously has more comparative advantage in this respect com- pared with the one with single arm. Because of the complicated condition in outer spa