闭链双臂空间机器人动力学建模及力矩受限情况下载荷运动自适应控制  

DYNAMICS FOR DUAL-ARM FLOATING SPACE ROBOT WITH CLOSED CHAIN AND ADAPTIVE CONTROL FOR OBJECT MOTION WITH LIMITED TORQUE

作　　者：程靖[1,2] 陈力[1,2] 

机构地区：[1]福州大学机械工程及自动化学院,福州350116 [2]福建省高端装备制造协同创新中心,福州350116

出　　处：《工程力学》2017年第2期235-241,共7页Engineering Mechanics

基　　金：国家自然科学基金项目(11372073;11072061)

摘　　要：讨论了在输入受限的情况下,漂浮基双臂空间机器人抓持负载后转移目标过程中的建模与自适应控制问题。利用拉格朗日第二类方程建立了开链空间机器人系统动力学模型,之后结合闭链系统的闭环约束条件,获得了闭链双臂空间机器人系统的动力学方程。在这个基础上,考虑到双臂空间机器人及负载存在参数不确定,系统存在外部扰动及输入力矩有限的情况,设计了自适应控制方案,以完成对载荷位置和姿态运动的精确控制。由带饱和函数的控制律限制输入力矩,采用自适应控制器逼近系统的不确定度。方案中利用高精度滤波器估计系统速度及角速度,从而仅需测量其位置信息。通过Lyapunov方法证明了系统的稳定性。最后通过数值仿真实验模拟了平面双臂空间机器人转移目标过程,并证实了上述控制方案的有效性。Dynamic and adaptive control problems for a floating dual-arm space robot transferring a target with limited inputs are discussed. Based on the Lagrange method, the dynamic model of an open chain space robot is established. Then, with closed-loop constraints in a closed chain system, a dynamic model of a dual-arm space robot system is obtained. Upon this basis, adaptive control is proposed for the closed chain system, considering uncertain parameters, external disturbances, and limited inputs, to complete the accurate control of load position and attitude. The input torque is limited by a control law with a saturation function. The uncertainty of the system is estimated by an adaptive controller. The velocity and angular velocity of the system are estimated using a high precision filter, requiring only the feedback position and the angle of the system. The stability of a closed chain system is proved via the Lyapunov Method. At last, numerical examples simulate the process of a planar dual-arna space robot transferring a target and verify the efficiency of the control scheme.

关 键 词：漂浮基 闭链双臂空间机器人 自适应控制 输入力矩受限 载荷位置姿态运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]