CAJ | 학술논문

文章以在轨自由漂浮空间机器人为研究对象,建立了基于空间算子代数的空间机器人运动学模型,研究了机器人本体和所抓取未知目标卫星的参数辨识问题,如本体和未知目标的质心、质量以及惯量张量等参数.首先基于空间算子代数理论建立空间机器人运动学符号模型;然后基于线动量及角动量守恒方程即可对空间机器人本体和未知目标卫星进行未知参数的辨识;随后分析了机器人的参数对辨识过程的影响以及参数辨识对控制规律的影响.在地面实验室中验证了本参数识别方法的可行性以及效果.
문장이재궤자유표부공간궤기인위연구대상,건립료기우공간산자대수적공간궤기인운동학모형,연구료궤기인본체화소조취미지목표위성적삼수변식문제,여본체화미지목표적질심、질량이급관량장량등삼수.수선기우공간산자대수이론건립공간궤기인운동학부호모형;연후기우선동량급각동량수항방정즉가대공간궤기인본체화미지목표위성진행미지삼수적변식;수후분석료궤기인적삼수대변식과정적영향이급삼수변식대공제규률적영향.재지면실험실중험증료본삼수식별방법적가행성이급효과.
The parameter identification methods for inertial parameters of the base and unknown objects handled by manipulators on a free-floating space robot was studied. First, kinematics model of robots based on spatial operator algebra theory was obtained. Next, parameter identification of the base was studied based on the conservation principle of linear and angular momentum, then parameter identification of the unknown object handled by manipulators was considered based on the parameters of the base. Finally, the effect of the robot parameters on parameter identification was analyzed. The feasibility of the parameter identification methods was demonstrated by a hardware experiment on the ground as well as the numerical simulations.