摘要
研究了载体姿态受控、位置不受控制情况下,具有时间延迟的漂浮基双臂空间机器人载体姿态与末端爪手工作空间协调运动的动力学建模与控制问题。利用系统动量守恒关系及Lagrange方法,建立了漂浮基双臂空间机器人的系统动力学模型及运动Jacobi关系。以此为基础,考虑到系统存在时间延迟的复杂情况,利用Taylor级数展开,导出了适用于时间延迟情况下控制系统设计的数学模型。利用该模型,提出了一种双臂空间机器人在时间延迟情况下的改进计算力矩控制方案。而后,运用Lyapunov第二类方法,结合图形分析以及范数的方法证明了该控制系统的稳定性。数值仿真结果证实了该控制方案在系统存在时间延迟的情况下,仍然可以有效地控制双臂空间机器人,稳定地追踪工作空间的期望轨迹。
This paper discusses the dynamic modeling and control problem of a dual-arms space-based robot system with time delay to track a desired trajectory in a work space,when the attitude of base is controlled and its location is uncontrolled.Combining the relationship of the linear momentum conversation and the Lagrange approach,the dynamic equation and the Jacobian relation of a space-based robot system with dual-arms are analyzed and established.Based on the above results,for the case of a space-based robot system with dual-arms having time delay,mathematical models suit for the design of a control system under the situation of time delay are established by using Taylor series expansion.Using the mathematical model,an improved computed torque control scheme of a dual-arms space-based robot system with time delay is proposed.Meanwhile,use Lyapunov’s second method to prove the stability of the control system combining with the way of norms and graphical analysis.Under the situation with time delay for a system,simulation results confirmed this control scheme still be possible effectively control the dual-arms space-based robot system to track a desired trajectory in a work space.
出处
《工程力学》
EI
CSCD
北大核心
2012年第10期366-371,377,共7页
Engineering Mechanics
基金
国家自然科学基金项目(10672040
10372022)
福建省自然科学基金项目(E0410008)
