摘要
讨论了载体位置、姿态均不受控制的双臂空间机器人抓物系统的动力学建模和控制问题。利用拉格朗日方法和牛顿欧拉法分别建立了双臂空间机器人及负载的非线性动力学模型,结合空间机器人固有的特性及闭合链约束关系,得到抓持系统合成动力学方程。以此为基础,考虑到空间机器人系统结构的复杂性及其某些参数的变动性,根据具有较强鲁棒性的变结构控制理论,设计了该抓持系统惯性空间轨迹跟踪的滑模变结构控制方案及相应的内力控制方案,从而达到位置、力的混合控制。系统数值仿真证明了上述控制方案的有效性。
A kind of nonlinear dynamic model of free-floating dual-arm space robot systems was presented based on Lagrange method,and the dynamic model of object was presented based on Newton-Euler meth-od. Based on the results, the dynamic model of synthetical system was obtained,and the control problems for object to track the desired trajectory in workspace and inner force were discussed. Because of the high structure complexity and the parameter uncertainty of space manipulator systems, the scheme of variable structure sliding-mode control with better robustness to uncertainty and disturbance was proposed to track the desired trajectory of object. Then, the corresponded scheme of inner force control was proposed. The effect of the controllers was testified by computer simulation.
出处
《力学季刊》
CSCD
北大核心
2012年第4期565-570,共6页
Chinese Quarterly of Mechanics
基金
国家自然科学基金项目(10672040
11072061)
福建省自然科学基金项目(2010J01003)
关键词
漂浮基双臂空间机器人
闭合运动链
变结构控制
内力
free-floating dual-arm space robot
closed kinematic chain
variable structure control
innerforce
