SUMMARYThe dynamic manipulability of a manipulator refers to the capacity to generate accelerations given the joint torques, which is an important indicator for motion planning and control. In this paper, the dynamic manipulability analysis is extended to the multi-arm space robot, and further to the closed-loop system composed of the space robot and the captured target. According to the dynamic equations, the relation between the joint torques and the end-effector accelerations in the open-loop space robot and that between the joint torques and the target accelerations in the closed-loop system are derived. On this basis, the dynamic manipulability factor and dynamic manipulability ellipsoid are proposed as two tools for the dynamic manipulability measure, where the effects of the bias acceleration are considered. The influences of dynamic parameters, link lengths, joint variables, and velocities on the dynamic manipulability measure are mainly studied.

中文翻译：

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多臂空间机器人动态可操作性分析

摘要机械臂的动态可操纵性是指在给定关节力矩的情况下产生加速度的能力，是运动规划和控制的重要指标。本文将动态可操纵性分析扩展到多臂空间机器人，进一步扩展到空间机器人和捕获目标组成的闭环系统。根据动力学方程，推导了开环空间机器人关节力矩与末端执行器加速度的关系，以及闭环系统中关节力矩与目标加速度的关系。在此基础上，提出了动态可操纵性因子和动态可操纵性椭球作为动态可操纵性度量的两个工具，其中考虑了偏置加速度的影响。