自由浮动柔性空间双臂机器人的混合抑振控制  

Hybrid vibration suppression for a free-floating flexible dual-arm space robot

作　　者：王从庆[1] 柯昌俊[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《振动工程学报》2009年第1期31-35,共5页Journal of Vibration Engineering

基　　金：江苏省应用基础研究课题(BJ98057);南京航空航天大学创新基金资助项目(CX200407);南京航空航天大学科研创新群体基金课题(Y0847-031)

摘　　要：针对一种双臂4关节末端为柔性连杆的自由浮动空间机器人,将自由浮动空间柔性双臂机器人开链系统的柔性杆视为Euler-Bernoulli梁,采用假设模态法对柔性连杆的变形进行近似描述,忽略高阶弹性振动模态,根据拉格朗日法,并结合系统动量守恒,推导了自由浮动空间柔性双臂机器人开链系统的动力学方程和振动方程;考虑弹性变形、建模误差及扰动项,以及动力学的非线性强耦合效应,在模态空间下,采用模糊滑模及最优控制的混合控制方法,讨论空间柔性双臂机器人操作臂在捕获运动时的轨迹跟踪及振动抑制问题。仿真实验表明,混合控制可以削弱滑模控制的抖振程度,使得滑模控制的输出更平稳,有效地抑制柔性连杆产生的弹性振动,保持操作臂末端轨迹跟踪的鲁棒性。Aiming at a free-floating flexible dual-arm space robot with 4 degrees of freedom and flexible links at the end of the arm, the flexible link of the robot is assumed as an Euler-Bernoulli beam. Based on the assumed modes method, deformation for the flexible link is approximately described. In terms of the Lagrange method and the momentum conservation, dynamics equation and vibration equation of the open chain system for flexible arms with ignoring high-order elastic modes are derived. A hybrid control approach with fuzzy sllding-mode control and optimal control is presented for reducing the elastic deflection, modeling errors, disturbance and the nonlinear strong coupling action of the dynamics in the modal space. The trajectory tracking and the vibration suppression of flexible manipulators in the capturing motion are discussed. Some simulation results show that the approach can reduce the chattering of the sliding-mode control and make the output of the scheme more smooth, and the proposed method can assurance the robustness of trajectory tracking at the end of the arm and the flexible vibration can be suppressed effectively.

关 键 词：自由浮动柔性空间双臂机器人 柔性振动 模糊滑模控制 振动抑制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TH113[自动化与计算机技术—控制科学与工程]