关键词: 运动－控制, 约束, 空间机器人

Abstract: The holonomic constraints, which approximate the nonholonomic constraints, are used in the computation of inverse kinematics of a space robot system to reduce the control fuel expenditure or to avoid saturation of reaction wheels. The validity of the proposed control scheme is proved by the simulation of a two-link planar space robot system.

Key words: motion-control, constr aint, space-robots