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| 空间机械臂非完整运动规划的最优控制 | |
| 引用本文： | 戈新生 陈力 等. 空间机械臂非完整运动规划的最优控制[J]. 应用力学学报, 1998, 15(4): 6-11 |
| 作者姓名： | 戈新生 陈力 等 |
| 作者单位： | [1]北京机械工业学院，北京100085 [2]上海交通大学，上海200 |
| 基金项目： | 国家自然科学基金重点项目,博士点专项科研基金 |
| 摘 要： | 讨论空间机械臂系统的运动规划问题，利用系统的非完整特性，将空间机械臂动力学方程转化为非线性控制系统的状态方程，给出一种最优控制的数值自满。通过仿真计算，表明该算法的有效性。 |
| 关 键 词： | 空间机械臂 非完整约束 最优控制 非完整运动规划 航天 |
Optimal Control Method of Nonholonomic Motion Planning of Space Manipulators |
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| Ge Xingsheng Chen Li Liu Yanzhu. Optimal Control Method of Nonholonomic Motion Planning of Space Manipulators[J]. Chinese Journal of Applied Mechanics, 1998, 15(4): 6-11 | |
| Authors: | Ge Xingsheng Chen Li Liu Yanzhu |
| Affiliation: | Ge Xingsheng Chen Li Liu Yanzhu (Beijing Institute of Machinery Industry) (Shanghai Jiaotong University) |
| Abstract: | In this paper, the problem of motion planning of space manipulator system is discussed. Considering the nonholonomic characters of the system, the dynamic of the space manipulators are transformed into the state equations of non linear control system. The numerical solution of optimal control is proposed. The effectiveness of the method is proved by the numerical simulation examples. |
| Keywords: | space manipulator nonholonomic constraint optimal control. |
| 本文献已被 CNKI 维普 等数据库收录！ | |