Journal of Beijing University of Posts and Telecommunications

  • EI核心期刊

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2007, Vol. 30 ›› Issue (3): 11-14.doi: 10.13190/jbupt.200703.11.zhangyh

• Papers • Previous Articles     Next Articles

Newton-Euler Orthogonal Method for the Solution of
Joint Actuation Torque of Free-Floating Space Robot

ZHANG Yan-heng1 , SUN Han-xu2 , YUN Chao1 , JIA Qing-xuan2   

  1. 1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
    2.Automation School, Beijing University of Post and Telecommunication, Beijing 100876, China
  • Received:2006-06-16 Revised:1900-01-01 Online:2007-06-30 Published:2007-06-30
  • Contact: ZHANG Yan-heng

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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

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