空间机械臂轨迹规划和地面仿真方法分析-控制科学与工程专业毕业论文.docxVIP

Abs Abstract - - II - Abstract With the space activities increasing, the use of space manipulators replacing astronauts to do space activities is the new trend of space explore. In space, due to the dynamic coupling between the space manipulator and its base, space manipulator would disturb its base’s position and attitude. So, this paper studies the space manipulator path planning algorithm to make the base attitude disturbance caused by manipulator movement minimum. In order to guarantee the validation of the algorithm, the air-bearing ground simulation experiment system is selected to test the algorithm, and the credibility of experiment system is analyzed through of dynamics model. Firstly, this paper introduces the current development of space manipulator, its path planning algorithm, and its ground simulation experiment systems. The advantages and disadvantages of various ground simulation systems are analyzed. Secondly, this paper establishes the kinematics and dynamics equations of three kinds of working mode of space manipulator. The dynamics model is established by Lagrange method. The space manipulator’s dynamics parameters are given, which is studied in this paper. Nextly, this paper studies the path planning algorithm of space manipulators. At first, the algorithm of point-to-point in the cartesian space is studied, although the manipulator’s point-to-point motion can be achieved, but the disturbance of base attitude is not considered in the solving process. Then, the problem of continuous path tracking is accomplished by means of the inverse of generalized Jacobi matrix method, and this method ensure that the manipulator’s motion do not disturb its base attitude, but the generalized Jacobi matrix singularity problem limits the application of this method. In order to reduce the base attitude disturbance by manipulator’s motion, and overcome the Jacobi matrix singularity problem. This paper, using the sine function to parametric manipulator joints fun