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spatial operator algebra for Free-floating Space Robot Modeling and Simulation

Chinese Journal of Mechanical Engineering 2010年第5期23卷 635-640页

作者： TIAN Zhixiang WU Hongtao Department of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

As the dynamic equations of space robots are highly nonlinear,strongly coupled and nonholonomic constrained,the efficiency of current dynamic modeling algorithms is difficult to meet the requirements of real-time *** paper combines an efficient spatial operator algebra（SOA） algorithm for base fixed robots with the conservation of linear and angular momentum theory to establish dynamic equations for the free-floating space robot,and analyzes the influence to the base body＇s position and posture when the manipulator is capturing a *** recursive Newton-Euler kinematic equations on screw form for the space robot are derived,and the techniques of the sequential filtering and smoothing methods in optimal estimation theory are used to derive an innovation factorization and inverse of the generalized mass matrix which immediately achieve high computational *** high efficient SOA algorithm is spatially recursive and has a simple math expression and a clear physical understanding,and its computational complexity grows only linearly with the number of degrees of ***,a space robot with three degrees of freedom manipulator is simulated in Matematica *** with ADAMS,the simulation reveals that the SOA algorithm is much more efficient to solve the forward and inverse dynamic *** a result,the requirements of real-time simulation for dynamics of free-floating space robot are solved and a new analytic modeling system is established for free-floating space robot.

关键词： nonholonomic constrained spatial operator algebra dynamic free-floating space robot

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Kinematic Model Extraction for Serial Manipulators Which Have in Different Topologies in Vpython Environment

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Journal of Mechanics Engineering and Automation 2015年第9期5卷 503-509页

作者： Ece Yildirim Department of Mechanical Engineering Gazi University Ankara 06500 Turkey

In this study, we aim at obtaining inverse kinematic model of a serial manipulator using spatial operator algebra. For testing the inverse kinematic algorithm, the Vpython software program which has simultaneous view and software working, is used. The aim is to measure the inverse kinematics modeling work on different serial manipulator mechanisms with spatial vector algebra. The algorithm is used with the same reference inputs on the recursive, exact and nonrecursive manipulators. During the tests, the permitted error tolerance is 0.01 cm. The graph plots show that the algorithm is fit for the error tolerance.

关键词： spatial operator algebra inverse kinematic Vpython.

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