发表机构
University of Cincinnati（辛辛那提大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对自由漂浮空间机械臂动态耦合导致工作空间缩减的问题，提出多轴选择性解耦框架，仅沿任务关键方向消除动量传递，放宽零空间约束，数值模拟验证其能保留自由度并成功执行任务。
AI 中文摘要
自由漂浮空间机械臂系统因动态耦合而面临操作挑战。传统的无反作用操作虽能消除基座扰动，但在所有旋转轴上强制实施零空间投影会对系统施加过多约束，并大幅缩减可用工作空间。为解决此局限，本研究提出一种多轴选择性解耦框架，该框架仅沿任务关键方向消除动量传递。通过利用方向约束的子耦合矩阵，该框架放宽了零空间约束。数值模拟证实，该方法在数学上消除了沿目标轴的约束方向扰动，同时保留其余自由度，使机械臂能够成功执行任务空间操作。
英文摘要
Free-floating space manipulator systems face operational challenges due to dynamic coupling. While traditional reactionless manipulation eliminates base disturbances, enforcing the null-space projections across all rotational axes imposes excessive constraints on the system and drastically reduces the available workspace. To address this limitation, this work proposes a multi-axis selective decoupling framework that nullifies momentum transfer exclusively along mission-critical directions. By leveraging a directionally constrained sub-coupling matrix, the framework relaxes the null-space constraints. Numerical simulations confirm that this approach mathematically eliminates constrained directional disturbances along the targeted axes while preserving the remaining degrees of freedom, enabling the manipulator to execute task-space operations successfully.
Comments11 pages, 7 figures, 2026 AAS/AIAA Astrodynamics Specialist Conference
