摘要
在空间机器人研究中,空间机器人的地面试验是必不可少的,通过地面试验系统模拟空间环境,可以进行实验,验证空间系统上所采用的理论、方法是否合理,为下一步的空间实验提供依据。为了给下一步的研究提供平台,针对小型智能空间机器人系统的气浮地面实验系统采用拉格朗日法建立系统的运动学、动力学模型,采用5-3-5混合插值法进行了路径规划,通过仿真试验,验证了空间建模理论和规划方法的正确性,为空间机器人实验的改进提供了依据。
The ground experiment is essential in the space robotics researches. Theories and methods applied to the space system can be verified in the simulated micro-gravity environment provided by the ground experimental system. The kinematic and dynamic models of the air-beating experimental system for space robot are deduced by using the Lagrange method. The path planning is performed on this ground experimental system by the 5-3-5 interpolation method. The simulation results show that the proposed spatial modeling theory and programming method are feasible. The possible improvement of the spatial experiments is mentioned.
出处
《控制工程》
CSCD
北大核心
2009年第2期223-226,共4页
Control Engineering of China
基金
国家863-704邻域重大科研基金资助项目(2002AA742010
2004AA742200)
关键词
空间机器人
地面试验
路径规划
space robotics
ground experiments
path planning
