Modeling and Simulation of Space Manipulator Based on Lie Group

摘要：

　　The problem of modeling based on Lie group is studied for space manipulator system with characteristics of nonlinear and strong coupling.By introducing the corresponding relation between rigid body motion and SE(3) and the exponential product method,a recursive model and its matrix representation based on Lie group is obtained through forward and backward recursive process,which has advantages of less calculation amount,unified form of models and definite physical meaning.Comparing the simulation result under the same condition between Lie group model and classical model,a high similarity was presented,proving the validity of Lie group method.

关键词： space manipulator exponential product method Lie group modeling contrast simulation

作者: Li Li Xia Hongwei Zhu Qinghua Deng Ya Wang Changhong

作者单位: School of Information Science and Engineering,Harbin Institute of Technology at Weihai, Weihai 26420 Department of control science and engineering,Harbin Institute of Technology, Harbin 150001, P. R. C Department of control science and engineering,Harbin Institute of Technology, Harbin 150001, P. R. C

会议类型: 国际会议

会议名称: 2016 Sixth International Conference on Instrumentation and Measurement,Computer,Communication and Control (IMCCC2016)(第六届仪器测量、计算机通信与控制国际会议)

会议地点: 哈尔滨

会议语种:英文

页码: 681-686

在线出版日期: 2016-07-21（万方平台首次上网日期，不代表论文的发表时间）