| 减少载体姿态扰动的空间机械臂路径规划方法 |
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| 引用本文： | 谭朝阳,顾晓勤,宋士伟.减少载体姿态扰动的空间机械臂路径规划方法[J].商丘师范学院学报,1997(Z4). |
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| 作者姓名： | 谭朝阳 顾晓勤 宋士伟 |
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| 作者单位： | 河北师范大学机械系!石家庄，050031 |
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| 摘 要： | 讨论空间机械臂逆动力学路径规划问题．对于给定负载运动始末位置情形，采用无扰曲线变轨法和Pontryagin方法得到载体姿态扰动的优化路径．文中附有算例．
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| 关 键 词： | 空间机械臂 Pontryagin方法 路径规划 航天器动力学 |
PATH PLANNING OF SPACE MANIPULATOR WITH MINIDISTURBANCE FOR VEHICLE |
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| Tan Zhaoyang Gu Xiaoqin Song Shiwei.PATH PLANNING OF SPACE MANIPULATOR WITH MINIDISTURBANCE FOR VEHICLE[J].Journal of Shangqiu Teachers College,1997(Z4). |
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| Authors: | Tan Zhaoyang Gu Xiaoqin Song Shiwei |
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| Abstract: | The inverse dynamically path planning of space manipulator is discussed. The op-timal paths are derived by traverse method of no-disturbance curves and Pontryagin'Smethod. The numerical simulation results are included. |
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| Keywords: | space manipulator Pontryagin's method path planning dynamics of spacecraft |
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