摘要
讨论漂浮基闭链空间机械臂抓持系统目标载荷的位置、力混合协调控制问题。结合系统动量、动量矩守恒关系及闭合运动链几何约束关系,利用多刚体动力学建模方法建立了漂浮基闭链双臂空间机器人抓持系统的合成动力学方程。针对参数不确定和外部干扰的情况,提出一种基于反演神经网络的位置、力自适应协调控制方案,从而达到对抓持负载位置与所受内力的双重控制效果。此控制方案无需要求系统动力学方程关于惯性参数呈线性函数关系;同时,它可保证系统渐近稳定性。数值仿真结果证实了该控制方案可有效地消除参数不确定对系统的影响。
Hybrid position and force control problem of grasped object of a free-floating space manipulator with closed kinematic chain was discussed. By combining the relationship of the linear and angular momentum conversation, closed kinematic chain restraints and multi-body dynamic method, the synthetical dynamic model of the free floating space manipulator grasping system was established. With uncertain parameters and external disturbance, an adaptive backstepping neural network control scheme was developed to track the desired trajectory of object, and the correspondent scheme of internal forces control was proposed synchronously. Therefore, the object position and internal force can be regulated simultaneously. The proposed control scheme needs not to linearly parameterize the dynamic equation of the system. Meanwhile, it can guarantee asymptotically stability of the system. A planar free-floating space manipulator was simulated to verify that the proposed control scheme can eliminate the effect of uncertain parameters on the system.
出处
《工程力学》
EI
CSCD
北大核心
2012年第3期205-211,共7页
Engineering Mechanics
基金
国家自然科学基金项目(10672040)
福建省自然科学基金项目(2010J01003)
关键词
漂浮基
闭合运动链
反演
神经网络
力/位置混合控制
free-floating
closed kinematic chain
backstepping
neural network
hybrid force and positioncontrol
