CAJ | 학술논문

空间机器人系统的机械臂和基座之间存在着动力学耦合。为了保证笛卡尔路径规划的同时可以调整基座的姿态，以冗余自由度空间机器人为研究对象，首先建立了空间机器人系统的运动学方程；由于存在一定的冗余度，通过将基座姿态运动方程与广义雅可比矩阵组合得到扩展后的雅可比矩阵，实现了基座和机械臂运动的协调规划；讨论了基座姿态无扰路径规划，并与零空间法进行了对比。建立平面三自由度空间机器人系统，分别采用零空间法和扩展雅可比矩阵法进行了基座姿态无扰路径规划和基座姿态跟踪路径规划，仿真结果验证了方法的有效性。
공간궤기인계통적궤계비화기좌지간존재착동역학우합。위료보증적잡이로경규화적동시가이조정기좌적자태，이용여자유도공간궤기인위연구대상，수선건립료공간궤기인계통적운동학방정；유우존재일정적용여도，통과장기좌자태운동방정여엄의아가비구진조합득도확전후적아가비구진，실현료기좌화궤계비운동적협조규화；토론료기좌자태무우로경규화，병여령공간법진행료대비。건립평면삼자유도공간궤기인계통，분별채용령공간법화확전아가비구진법진행료기좌자태무우로경규화화기좌자태근종로경규화，방진결과험증료방법적유효성。
There exists dynamic coupling between space manipulator and their spacecraft. In order to plan the cartesian path with the base attitude adjusted at the same time, this article takes the redundant space robot as the object of research. First the kinematics equation of space robot system is established. Due to the presence of a certain degree of redundancy, the e-quations of motion of the base attitude and the generalized Jacobian matrix are combined to obtain the extended Jacobian ma-trix, thus realizing the coordinated planning of the base and the manipulator. At last the zero-disturbance base attitude is ana-lyzed and the extended Jacobian matrix is compared with the null-space method. A planar 3-DOF space robot system is de-signed for simulation. Both the extended Jacobian matrix method and the null-space method are used for zero-disturbance base attitude path planning and base attitude tracking path planning. The results demonstrate effectiveness of the proposed method.