关键词: 空间器人, 操作能力, 微分几何

Abstract:

Due to the dynamic coupling of space robot system, the evaluating method of manipulability used on ground can not be directly applied to the space robot. By moving frame method in differential geometry, a volume element concept is developed to evaluate the manipulability and disturbance of a two-degree space robot system. Based on volume element model, the manipulability of manipulator and its influence on the base are analyzed as well. Their effectiveness and accuracy are verified with help of virtual manipulator approach.

Key words: space robot, manipulability, differential geometry