欠驱动空间柔性机器人动力学建模与实时仿真

摘要

In order to improve the modeling efficiency for the computational dynamics of the open loop flexible robot, the generalized hybrid recursive dynamics base on the Spatial Operator Algebra （SOA） theory was presented. The generalized flexible robot was described in according to the type of the joint （active or passive）. The generalized articulated inertia-matrix, the residual forces and the generalized acceleration and torque were computed through twice tip-to-base recursion and once base-to-tip recursion. At last the O（n） hybrid dynamics was gained. Then the real time solver for the differential-algebra equation was studied based on the linear multi-step method in this paper. Simulations results show that the dynamic modeling and fast integration techniques proposed in this paper are very useful.%研究了在轨服务欠驱动空间柔性机器人的广义递推高效动力学算法．根据系统中铰的驱动情况分别对铰链定义为主动铰和被动铰，通过判断铰链的类型分别按照两次从系统的顶端到基座的顺序、一次从基座到顶端的顺序进行了系统铰接体惯量的递推、系统冗余力的递推和广义加速度和广义主动力的递推．通过上述3种方式的递推过程建立了空间机器人广义递推动力学模型，实现了高效率0∽）次的计算效率．然后采用线性多步积分算法，对所建立的微分一代数方程进行了快速的数值求解．最后通过软件编制仿真验证了本研究内容的正确性和高效性．