摘要
本文讨论了载体位置无控、姿态受控情况下,空间机器人姿态、关节协调运动的滑模控制问题。首先,由系统动量守恒关系和拉格朗日第二类方法,建立了漂浮基空间机器人的系统动力学方程。以此为基础,在滑模控制器输出端加入低通滤波器,设计了漂浮基空间机器人载体姿态与机械臂各关节协调运动的控制方案。此控制方案可有效地滤除滑模控制器输出的高频振动信号,减少了空间机器人在运动过程中引起的振动。最后,数值仿真的结果,证实了该控制方案的有效性。
The sliding-mode control problem of coordinated motion of a free-floating space robot with an attitude controlled base is discussed. Firstly, based on the lagrangian formulation and the relationship of the system linear momentum conversation, the dynamic equation of a free-floating space robot is derived. Based on the above results, a lowpass is fixed at the end of the output of the sliding-mode controller, and then the control scheme of coordinated motion between the base＇s attitude and the manipulator＇s joints of the free-floating space robot is designed. This proposed control scheme can filter the high-frequency vibration signals of the output of the sliding-mode controller efficiently, and reduce the vibration caused by the movement of the space robot. Iastly, the simulation results verify the effectiveness of the proposed control scheme.
出处
《现代机械》
2009年第6期29-32,共4页
Modern Machinery
关键词
漂浮基空间机器人
动力学方程
滤波器
协调运动
滑模控制
free-floating space robot
dynamic equation
lowpass
coordinated motion
sliding-mode control
