Proper Inertial Motion of Robotic Space Module. Reduced System Dynamics

摘要

Ensuring accord between free and forced motions of a manipulator is essential in managing robot movement. The article examines inertial proper motions by the manipulator degree of freedom with regard to the assembly and service robotic space modules as a progressive system class. The plane motion of a system of two rigid bodies (moving platform and load)bound by a perfect single-pivot point ball-socket joint is reviewed as an example. It is through this system that the author reveals that, at the absence of any external force and moments, the independent dynamic equation in respect to pivot point coordinates in the Routh equation form may be associated with reduced nonlinear oscillating system. Should there be no control moment energy integral of a reduced system equation in the joint is a phase path equation. The kinetic energy of the initial system may be interpreted as a total energy of the reduced system which is essentially a sum of kinetic and potential components.