标题：Direct Dynamics of a Space Robot Actuated by Control Moment Gyros
参考译名：由控制力矩陀螺驱动的空间机器人的直接动力学
简介：This paper presents a direct formulation of dynamical equations for a space robot actuated by control moment gyros (CMGs). The space robot consists of a service satellite and a robotic manipulator comprising an arbitrary number of rigid links connected by spherical joints. A cluster of CMGs is mounted on the base and on each link. The static and dynamic imbalances of the gimbals and the rotors are both considered. Dynamical equations for the robotic system level are derived using Kane's equations. The nominal output torques of the CMGs and the disturbance torques caused by the imbalances are separated, with each having explicit expressions. A feedback controller based on the nominal model is also proposed for system trajectory tracking control. Simulation comparisons based on different imbalance parameters show that the controller works, but the imbalances may cause both high-frequency and low-frequency disturbance torques, which may distinctly decrease system-control accuracy.
来源：出处：《Machines, Mechanism and Robotics: Proceedings of iNaCoMM 2017》 年：2019 123～134 总页数：12 会议：International Conference on Machines and Mechanisms 举办地：Mumbai 日期：2017-12-13 届次：3rd 语种：英语 分类号：TP24-53 ISBN：9789811085963
链接：http://pan.ckcest.cn/rcservice//doc?doc_id=38823
