Inverse kinematics calculation method for minimum base disturbance analysis of seven-degree-of-freedom space manipulator
A technology of space manipulators and degrees of freedom, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as inability to control space manipulators and obtain exact solutions, and achieve stable spacecraft bases, The effect of balancing the amount of calculation and saving computing resources
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[0138] Examples:
[0139] The connecting rod parameters of the space manipulator can be expressed as follows:
[0140] d bs =0.13md se =1.62md ew =1.46md wt =0.08m,
[0141] Table 2 shows the constraints of the joints of the space manipulator:
[0142] Table II
[0143]
[0144] Table 3 shows the quality characteristics of each link of the space manipulator:
[0145]
[0146] The total mass of the main body including the base of the robot arm is 1146.347kg. The position of the base relative to the geometric center of the satellite is [0 0.850 0.476] (m). The total inertia matrix of the satellite and the base is:
[0147] I 0 = 291.1 10.16 - 25.15 10.16 536.3 - 4.100 - 25.15 - 5.000 669.6
[0148] Assuming that the robot arm has a total running time of 20 seconds, and the acceleration and deceleration time are both 3 seconds, the expected pose of the end device relative to the geometric center of the satellite is:
[0149] T d = 0.105 ...
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