关键词: 自由飘浮空间机器人, Newton-Euler正交, 关节力矩

Abstract:

Due to the base of the robot is in the floating state in space, the conventional method to calculate the joint torque of the ground robot can’t be directly used to free-floating space robot. The tangent space and normal space of the robot motion curve is constructed by using Newton-Euler orthogonal method, which satisfies the restrictions of linear and angular momentum conservation of free-floating space robot system. An analytical expression of joint actuation torque in the floating state is given by using this method. Finally, a two-link space manipulator is used to verify the application of this method.

Key words: free-float space robot, Newton-Euler orthogonal , joint torque