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欠驱动空间柔性机器人动力学建模与实时仿真

DOI: 10.6052/1000-0879-11-416, PP. 24-30

Keywords: 空间柔性机器人,广义递推,微分-代数方程,实时仿真

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Abstract:

研究了在轨服务欠驱动空间柔性机器人的广义递推高效动力学算法.根据系统中铰的驱动情况分别对铰链定义为主动铰和被动铰,通过判断铰链的类型分别按照两次从系统的顶端到基座的顺序、一次从基座到顶端的顺序进行了系统铰接体惯量的递推、系统冗余力的递推和广义加速度和广义主动力的递推.通过上述3种方式的递推过程建立了空间机器人广义递推动力学模型,实现了高效率O(n)次的计算效率.然后采用线性多步积分算法,对所建立的微分-代数方程进行了快速的数值求解.最后通过软件编制仿真验证了本研究内容的正确性和高效性.

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