多个自由飞行空间机器人协调操作运动规划

摘要

本文提出了在空间微重力环境下多个自由飞行空间机器人协调操作运动规划算法。首先推导出多个自由飞行空间机器人协调操作的广义雅可比矩阵，其次给出了基于该矩阵的多个自由飞行空间机器人协调操作分解运运速度控制算法，最后用计算机仿真验证了该算法的正确性。%This paper presents the motion planning algorithm of coordinated manipulation for a team of free flying space robots in the space micro-gravity environment．First，The Generalized Jacobian Matrix（GJM）of coordinated manipulation for a team of free flying space robots is introduced．Then，a resolved motion rate control algorithm based on GJM is presented．Finally，the effectiveness of the algorithm is verified by computer simulation．