摘要
讨论了载体位置不受控制的漂浮基空间机械臂系统的控制问题。借助于增广变量法 ,恰当地扩展系统的控制输入与输出 ,克服了漂浮基空间机械臂系统控制方程关于惯性参数呈非线性函数关系的难点 ,保持了系统控制方程关于惯性参数的线性函数关系。以此为基础 ,针对末端抓手持有载荷参数未知与不确定两种情况 ,设计了载体姿态与机械臂关节协调运动的自适应控制与鲁棒控制两种方案。
In this paper,a coordinated control of the base attitude and itsarm's joints of space manipulator systems was studied. With the ideas of augmentation approach,the difficulties of nonlinear parameterization of the system dynamic equations were overcome. Based on the results proposed above,the adaptive and robust control schemes of coordinated motion for both the base attitude and itsarm's joints to trace the desired trajectory were developed. A two-link planar space manipulator systems was simulated to verify the proposed two control scheme.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2001年第5期582-585,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目! (19872 0 32 )
福州大学校内科研基金资助项目
