Acta Scientiarum Naturalium Universitatis Pekinensis ›› 2016, Vol. 52 ›› Issue (4): 627-633.DOI: 10.13209/j.0479-8023.2016.072

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Modeling and Simulation of Space Robot with Unilateral Contact Based on Complementary Problem

HU Tianjian1,2, WANG Tianshu1, LI Junfeng1, QIAN Weiping2   

  1. 1. School of Aerospace Engineering, Tsinghua University, Beijing 100084
    2. Beijing Institute of Tracking and Telecommunication Technology, Beijing 100094
  • Received:2015-12-30 Revised:2016-02-02 Online:2016-07-20 Published:2016-07-20
  • Contact: HU Tianjian, E-mail: lgi2004(at)


胡天健1,2, 王天舒1,  李俊峰1,  钱卫平2   

  1. 1. 清华大学航天航空学院, 北京 100084
    2. 北京跟踪与通信技术研究所, 北京 100094
  • 通讯作者: 胡天健, E-mail: lgi2004(at)
  • 基金资助:


Traditionally, the contact between the end-effector and the target is modeled as a parallel spring-damp model, which requires a time-consumed tuning of values of stiffness and damping factor and an extra force sensor fixed on the end-effector. The above drawbacks inspire the application of complementary problem to uniformly describe the unilateral contact for space robot. A dynamical equation of the space robot with unilateral contact is derived, and a numerical method is developed utilizing the Lemke algorithm. By numerical calculation of a planar 3 degree-of-freedom (DOF) manipulator fastened on a 3 DOF floating base, the effectiveness of the dynamical model is verified.

Key words: dynamics, space robot, unilateral contact, complementary problem


针对弹簧-阻尼(spring-damp, SD)并联模型描述机器人接触作业时需要耗时调节刚度、阻尼系数, 并在接触末端额外安装力传感器等缺陷, 基于互补问题, 描述空间机械臂末端与目标的单边接触, 推导具有紧凑数学形式的空间机器人接触动力学模型。采用 Lemke 算法设计动力学模型的数值计算方法, 并通过数学仿真验证动力学模型的有效性。

关键词: 动力学, 空间机器人, 单边接触, 互补问题

CLC Number: