Adaptive neural network control for coordinated motion of a dual-arm space robot system with uncertain parameters  

作　　者：郭益深 陈力 

机构地区：[1]College of Mechanical Engineering,Fuzhou University

出　　处：《Applied Mathematics and Mechanics(English Edition)》2008年第9期1131-1140,共10页应用数学和力学（英文版）

基　　金：the National Natural Science Foundation of China (Nos. 10672040 and10372022);the Natural Science Foundation of Fujian Province of China (No. E0410008)

摘　　要：Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.

关 键 词：flee-floating dual-arm space robot RBF neural network GL matrix andits product operator coordinated motion adaptive control 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]