郭益深, 陈 力. 漂浮基双臂空间机器人惯性空间轨迹跟踪的拟增广自适应控制[J]. 工程力学, 2008, 25(1): 224-228.
引用本文: 郭益深, 陈 力. 漂浮基双臂空间机器人惯性空间轨迹跟踪的拟增广自适应控制[J]. 工程力学, 2008, 25(1): 224-228.
GUO Yi-shen, CHEN Li. AUGMENTED ADAPTIVE CONTROL OF FREE-FLOATING DUAL-ARM SPACE ROBOT SYSTEM IN INERTIAL SPACE[J]. Engineering Mechanics, 2008, 25(1): 224-228.
Citation: GUO Yi-shen, CHEN Li. AUGMENTED ADAPTIVE CONTROL OF FREE-FLOATING DUAL-ARM SPACE ROBOT SYSTEM IN INERTIAL SPACE[J]. Engineering Mechanics, 2008, 25(1): 224-228.

漂浮基双臂空间机器人惯性空间轨迹跟踪的拟增广自适应控制

AUGMENTED ADAPTIVE CONTROL OF FREE-FLOATING DUAL-ARM SPACE ROBOT SYSTEM IN INERTIAL SPACE

  • 摘要: 讨论了载体位置、姿态均不受控制的漂浮基双臂空间机器人系统的自适应控制问题。为了克服空间机器人系统动量及动量矩守恒关系的引入,使得系统动力学方程关于系统惯性参数呈非线性关系,给控制系统设计带来的困难,漂浮基双臂空间机器人系统的动力学方程被表示为欠驱动形式。其优点在于,相应的控制系统状态方程保持了惯常的关于系统惯性参数的线性性质。以此为基础,并借助于增广变量法,通过恰当地虚拟扩展系统的控制输入与输出,成功地克服了漂浮基双臂空间机器人系统自适应控制方案设计的难点,针对双臂空间机器人两个末端抓手持有载荷参数均未知的情况,设计了漂浮基双臂空间机器人两个末端抓手惯性空间轨迹跟踪的拟增广自适应控制方案。通过系统数值仿真,证实了上述控制方法的有效性。

     

    Abstract: The adaptive control scheme of free-floating space robot system with dual-arms is studied. Because of the linear and angular momentum conservation of the system, the dynamic equations of the system cannot be linearly parameterized. In order to overcome the difficulty, the dynamic equations of the system are formulated by the under-actuated form, and with the augmentation approach, an adaptive control scheme is developed for dual-arm space robot system with unknown payload parameters to track the desired trajectories in inertial space. A simulation of a planar free-floating space robot system with dual-arms is presented. The simulation results show that the proposed control scheme is feasible and effective.

     

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