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CONTROL ALGORITHM BASED ON JOINT DRIVEN TORQUE TO CAPTURE TARGET FOR FREE FLYING SPACE ROBOTS
Author(s): 
Pages: 161-168
Year: Issue:  3
Journal: ROBOT

Keyword:  自由飞行空间机器人关节驱动力矩广义雅可比矩阵分解运动速度控制计算机仿真;
Abstract: 本文研究了自由飞行空间机器人(FFSR)关节驱动力矩的求解算法及在其基础上的捕捉目标控制算法.首先,建立了计算FFSR关节驱动力矩的求解算法;其次结合基于广义雅可比矩阵的分解运动速度控制法提出了一种捕捉目标的力矩控制算法;最后,计算机仿真验证了本文提出算法的有效性.
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