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Alternative TitleResearch on Non-Holonomic of a Space-Based Manipulator System
陈正仓1,2; 周维佳1
Source Publication机械设计与制造
Contribution Rank1
Funding Organization国家自然科学基金项目,重载高刚度搅拌摩擦焊机器人动态特性分析及优化设计(51505470)
Keyword漂浮基 空间机械臂 非完整 分布 对合性 弗罗贝尼乌斯定理 仿真
Other AbstractBased on an n joints space manipulator system,the general dynamic equation is given and the coupled dynamical relationship between a floating base and a manipulator installed on the base is discussed. Then,a kind of non-holonomic judgement methods for space-based manipulator system is proposed. Selecting attitude rate of the base and joints speed vector as state variables,a state equation is established. After decomposition of the coefficient matrix,it proves that state space solution is a vector distribution which is not fit for involutive operation. Finally,according to the principle of Frobenius’ Theorem,the system discussed in the text is demonstrated to be non-holonomic. During simulation tests,taking closed joint paths as inputs,and attitude curves of the floating base are deemed as outputs. The results show that those outputs are not closed. It proves again that the system is non-holonomic.
Document Type期刊论文
Corresponding Author陈正仓
Recommended Citation
GB/T 7714
陈正仓,周维佳. 漂浮基空间机械臂系统的非完整性研究[J]. 机械设计与制造,2018(10):257-260.
APA 陈正仓,&周维佳.(2018).漂浮基空间机械臂系统的非完整性研究.机械设计与制造(10),257-260.
MLA 陈正仓,et al."漂浮基空间机械臂系统的非完整性研究".机械设计与制造 .10(2018):257-260.
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