60 results about "Multibody system" patented technology

The invention discloses a mechanical arm track planning method considering spacecraft body attitude motion, and belongs to the field of track planning of multi-body systems. The robot arm track planning method considering the spacecraft body attitude motion comprises the specific steps that firstly, under the initial state of a spacecraft, the position of the tail end of a mechanical arm and the change track of the attitude orientation are determined through a quintic polynomial path planning method; according to the planning of the attitude motion of a spacecraft center body, a original expected position and the change amount of the orientation under a spacecraft body coordinate system due to the attitude motion of the center body are obtained so as to compensate the motion planning of the mechanical arm; original track planning of the tail end of the mechanical arm and the compensation planning are correspondingly summed and recorded as the tail end point track of the mechanical arm,and the motion track of each joint angle of the mechanical arm is planned through a kinematic pseudo-inverse algorithm, so that the mechanical arm track planning considering the spacecraft body attitude motion is achieved. The robot arm track planning method considering the spacecraft body attitude motion has the advantages of reducing the real-time calculation pressure of an on-board computer, improving the track planning efficiency and the like.