Dynamic modeling and simulation of closed-loop dual-arm space robots

被引：1

作者：

Tian Z.-X. ^{[1
]}

Wu H.-T. ^{[1
]}

机构：

[1] Department of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, Jiangsu

来源：

Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science) | 2011年 / 39卷 / 08期

关键词：

Closed loop; Dual-arm space robot; Free floating; Multi-body system; Spatial operator algebra;

D O I：

10.3969/j.issn.1000-565X.2011.08.008

中图分类号：

学科分类号：

摘要：

In order to implement real-time positioning and tracking of the pose of the closed-loop dual-arm space robot body, the recursive Newton-Euler kinematic equations on screw form are derived, and, according to the conservation laws of linear and angular momentum of the free-floating space robots, the dynamic equations of the closed-loop system of the free-floating dual-arm space robots are set up based on the theory of spatial operator algebra. Then, the decomposition and inversion of the generalized mass matrix are achieved by means of the sequential filtering and smoothing methods of optimal estimation theory, with the high-efficiency computation for O(n) times. Finally, the closed-loop system with manipulators of 2 planes and 3 degree of freedom is simulated by using Mathematica 6.0, and the results are compared with those of the ADAMS. It is found that the proposed method based on spatial operator algebra is correct and efficient and that it can be applied to the real-time dynamic simulation of spatial complex multi-body systems as well as the modeling analysis of control systems.

引用

页码：42 / 47+65

共 15 条

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