摘要
基于对机器人闭链系统运动特性的分析,采用假设模态法及拉格朗日方程建立了自由浮动空间柔性双臂机器人协调操作刚性负载闭链系统的动力学模型,然后采用基于小脑模型的模糊神经网络与非线性PD并行控制的方法对该动力学模型进行轨迹跟踪,并对内力采用积分控制;通过仿真实验比较,该方法比一般的非线性PD控制,在跟踪误差、抗干扰性、鲁棒性方面,都有很大的改善。
Based on the analysis to the dynamic character about the closed chain system of the robots, the dynamics of the free-floating flexible dual-arm space manipulators holding a rigid payload is derived using the assumed modes method and Lagrange principle. Furthermore, the trajectory tracking is performed via a parallel control law of Fuzzy Cerebella Model Articulation Controller （FCMAC） and nonlinear PD control, And the integral controller is adopted to control the internal force, According to some simulations, the proposed control law has better performance in reducing the errors of trajectory tracking and improving robustness and disturbance resistant ability than the nonlinear PD control method.
出处
《计算机测量与控制》
CSCD
2007年第11期1487-1490,共4页
Computer Measurement &Control
