漂浮基空间机械臂的自适应控制方法

讨论了载体位置与姿态均不受控制情况下,漂浮基空间机器人系统的控制问题。结合系统动量守恒关系进行的运动学、动力学分析表明,可以得到一组与适当选择的惯性参数呈线性函数关系的、欠驱动形式的系统动力学方程。以此为基础,设计了系统参数未知情况下,由本体姿态期望运动及机械臂末端抓手惯性空间期望运动轨迹产生机械臂关节铰期望角速度、角加速度的自适应控制算法,该控制方案的优点在于,不需要反馈、测量漂浮基的位置、移动速度及移动加速度。

Serf-adaptive control scheme for free floating-based space manipulator

The control of free-floating space robot system under the condition of free position and posture of the carrier was discussed. A set of dynamic equations of the system in linear functional relationship to suitable inertial parameters could be obtained based on kinematic and dynamic study. A self-adaptive control algorithm of resolved motion velocity and acceleration of coordinated motion for space manipulator system with uncertain parameters to track desired trajectory in work space was developed. The advantage of the control sition, velocity and acceleration of the scheme is that it saves the feedback or measurement of the pofloating base with respect to the orbit.