Abstract:

Kinematic model of a kind of space robot system with nonholonomic constraints was built at first, dynamic singularity of the space robot system was further analyzed, and then, the motion planning method avoiding dynamic singularity based on Lyapunov function was discussed emphatically; valuable results were obtained by a comparative simulation study.

Key words: space ro bot, nonholonomic constr aints, dy namic sing ular ity, motion planning, Ly apuno v function