自由漂浮双臂空间机器人基联坐标系内的一种增广变结构鲁棒控制方法  

Robust Variable Structure Control of Spacecraft-referenced End-point Motion of Free-floating Space Robot System with Dual-arms

作　　者：唐晓腾[1] 陈力[1] 

机构地区：[1]福州大学,福州350002

出　　处：《中国机械工程》2008年第19期2278-2282,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(10672040);福建省自然科学基金资助项目(E0410008)

摘　　要：结合系统动量(矩)守恒关系,对自由漂浮双臂空间机器人系统进行了运动学和动力学分析,得到了一组与适当选择的惯性组合参数呈线性关系的欠驱动系统动力学方程,采用增广变量思想,克服通常情况下,空间机器人系统动力学方程关于系统惯性参数呈非线性关系的难点,设计了漂浮基双臂空间机器人末端爪手跟踪基联坐标系内期望轨迹的增广变结构鲁棒控制方案。该控制方案不需要反馈漂浮基的位置、移动速度及移动加速度;与自适应控制方案相比,该控制方案化积分运算为简单四则运算,计算量大为减小,有利于实时应用。数值仿真验证了算法的有效性。The kinematics and dynamics of free floating space robot system with dual-arms were analyzed, and it is shown that the Jacobian matrix and the dynamics equations of the system are nonlinearly dependent on inertial parameters. In order to overcome this problem, the system was modeled as under-actuated robot system, and the idea of augmentation approach was adopted. It is demonstrated that the dynamics equations of the system can be linearly dependent on a group of inertial parameters. Based on these results, a robust variable structure control scheme for spacecraftreferenced end point motion of free--floating space robot system with dual--arms with uncertain iner tial parameters was proposed, and a planar space robot system with dual arms was simulated to verify the proposed control scheme. The advantage of the scheme is that it requires neither measuring the position, velocity and acceleration of the floating base with respect to the orbit nor controlling the position and attitude angle of the floating base. In addition to this advantage, it is computationally simp- ler by choosing to make the controller robust to the uncertain inertial parameters rather than explicitly estimating them online.

关 键 词：双臂空间机器人 基联坐标系 增广变量法 变结构鲁棒控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]