漂浮基双臂空间机器人系统协调运动的模糊小波神经网络控制  

Fuzzy Wavelet Neural Network Control for Coordinated Motion of a Free-floating Dual-arm Space Robot

作　　者：黄登峰[1] 陈力[1] 

机构地区：[1]福州大学,福州350108

出　　处：《中国机械工程》2011年第13期1591-1596,共6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(2010J01003)

摘　　要：讨论了本体姿态受控、位置不受控的情况下,漂浮基双臂空间机器人系统协调运动的动力学控制问题。依据系统动量守恒关系和拉格朗日第二类方程,推导了漂浮基双臂空间机器人系统的动力学方程。在系统参数未知的情况下,提出了一种小波基模糊神经网络控制器,以使双臂空间机器人系统的本体姿态和机械臂关节铰协调地跟踪各自在关节空间的期望运动轨迹。提出控制器的优点在于:不仅不要求系统动力学方程关于惯性参数呈线性函数关系,而且也不需要知道系统参数;由于采用反向传播算法对网络参数进行在线训练,从而使模糊神经网络具有较好的自学习和自适应能力,这样就不需要事先进行离线训练,更适应于空间机器人系统的实际应用。利用一个双臂空间机器人系统的仿真结果,验证了所提出控制器的有效性。The dynamic control problem for coordinated motion of a free-floating dual-arm space robot system was discussed.According to the momentum conservation law,the dynamic equations of dual-arm space robot system were established through Lagrange equation of the second kind.Based on the above results,a fuzzy wavelet based neural network scheme was designed for dual-arm space robot system with unknown system parameters.The scheme achieves the coordinated motion of the base attitude and the joint angle in joint space.The control scheme needs neither to parameterize the dynamic equations of the system linearly,nor knows any system parameters.Further more,its network parameters are updating on-line by back propagation algorithm so that fuzzy neural network has strong ability of self-learning and self-adapting.Thus time-consuming off-line training process is not required.Simulation results of a planar dual-arm space robot system confirms that the proposed control scheme is effective and feasible.

关 键 词：漂浮基双臂空间机器人系统 模糊小波神经网络 关节空间 协调运动 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]