摘要
讨论了载体位置不受控制的带滑移铰两杆空间机械臂本体与末端抓手协调运动的控制问题 .结合系统动量守恒关系我们导出了系统的动力学方程以及机械臂末端抓手的线速度与关节铰速度间的运动学Jacobi关系 ;通过定义的一系列增广变量 ,我们建立了带滑移铰空间机械臂本体与末端协调运动的增广广义Jacobi关系 .进而结合系统动力学方程并根据变结构滑模控制理论 ,设计了带滑移铰空间机械臂本体姿态运动与末端抓手惯性空间轨迹运动协调控制的变结构滑模控制方案 .仿真运算 。
In this paper,The coordinated control scheme of spacecraft attitude and manipulator of the space based manipulator with prismatic joint and whose spacecraft position is not controlled is discussed.The dynamic equations of the systems and the generalized Jacobian matrix are derived.Based on the results,The variable structure coordinated control scheme of spacecraft attitude and its manipulator is developed.It is demonstrated that the proposed control scheme is efficient by the simulation.
出处
《商丘师范学院学报》
CAS
2000年第4期21-25,共5页
Journal of Shangqiu Normal University
基金
国家自然科学基金资助项目 !(1 9872 0 32 )
关键词
带滑移铰空间机械臂
协调运动
滑模控制
动力学
space based manipulator with prismatic joint
coordinated motion of spacecraft attitude and its manipulator
variable structure control
