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Nonsingular Closed- Loop Inverse Kinematics Schemes for Redundant SGCMG Systems
Author(s): 
Pages: 8-16
Year: Issue:  3
Journal: AEROSPACE CONTROL

Keyword:  控制力矩陀螺*非奇异*逆运动学;
Abstract: 为进一步简化单框架控制力矩陀螺(SGCMG)系统逆运动学的求解,在借鉴国内外相关研究的基础上,将冗余机械臂逆运动学闭环求解方法引入到SGCMG系统中来,并在闭环求解过程中,施加非奇异条件,即得到冗余SGCMG系统非奇异逆运动学闭环解.这种方法不但可以得到逆运动学的非奇异解,且可通过选择适当的增益阵,控制算法的收敛速度.而且由于此种方法不用计算Jacobi矩阵的伪逆,而是代之以Jacobi阵的转置,大大简化了计算量,适于实时实现.对金字塔构形的4-SGCMG系统的仿真结果表明,上述算法是可行的.
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