空间机器人姿态稳定方法研究

摘要

研究机器人动态优化问题,空间机器人的动力学耦合特性会影响系统的稳定性.空间机器人由于机械运动基座产生扰动,影响姿态稳定.通过建立空间机器人的动力学模型,结合动力学耦合特性分析了空间机器人的零反作用空间.提出基于零反作用空间的基座姿态稳定方法,实现了机械臂与基座的动力学解耦.不采用反作用飞轮或反作用喷气装置,即可使空间机器人的基座姿态达到稳定,达到了节省星上能源,延长空间机器人使用寿命的目的.在Matlab上进行数值仿真实验,结果验证了方法的有效性和可行性.方法能够为空间机器人在轨操作提供理论依据.%Coupling characteristics of space robot influence the stability of the system. Considering the attitude stabilization of the space robot, the dynamic model of the space robot is established firstly, then the Reaction Null Space of the space robot is analyzed according to the coupling characteristics of the system, and the coupling dynamics of the manipulator and base is decouplod. In this paper an approach is presented to make the attitude of the base fixed based on the Reaction Null Space without using reaction wheels or thrusters, which can save the fuel of the space robot and prolong the serving time of the system. Numerical simulation experiments have been made by using Matlab and the experimental results demonstrate the validity and effectiveness of the proposed approach. This method can provide theoretical support for on-orbit operation.