摘要
对一类柔性宏刚性微结构的空间机器人系统进行了运动学和动力学建模,介绍了采用微机械臂快速精确运动来补偿宏机械臂由于弹性形变和振动产生的末端误差的设计方案,并对此进行了简化。在此基础上设计了两种控制方案。一种是对宏机械臂和微机械臂都采用PD(比例微分)反馈控制,另一种是宏机械臂采用PD控制而微机械臂采用滑模变结构控制。最后进行了仿真试验,比较了两种控制方案的不同控制效果,并得出补偿算法是有效的,且滑模变结构控制在该试验中优于PD控制的结论。
The kinematic model and the dynamic model of a kind of flexible macro-micro space manipulator system are built. A simplified scheme is used to compensate for tip tracking errors caused by flexible deformation and vibration in the flexible macro-micro manipulator system through fast, precise motion of the micro manipulator. Moreover, two schemes are proposed. One is applying two PD controllers on the macro manipulator and the micro manipulator respectively. The other is applying a PD controller and a sliding mode controller on the macro manipulator and the micro manipulator respectively. The performances of the two different schemes are compared and analyzed in simulation. The simplified compensating scheme is tested effective. The scheme which is applying sliding mode controller can make better performance than the other one.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2005年第8期125-131,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金资助项目(60305008
60174018
90205008)。
