论文部分内容阅读
研究载体位置与姿态均不受控制的漂浮基双臂空间机器人系统的控制问题。为了保持系统控制方程关于惯性参数的线性性质,漂浮基双臂空间机器人系统的动力学方程被描述为欠驱动形式。对系统的动力学分析表明,基于增广变量法所得到的系统增广广义Jacobi矩阵亦可以表示为一组适当选择的惯性参数的线性函数。在此基础上,针对系统既存在有外部扰动且两机械臂末端爪手所持载荷参数又具有不确定性的复杂情况,设计了漂浮基双臂空间机器人惯性空间轨迹跟踪的拟增广鲁棒与自适应混合控制方案。与自适应控制方法相比,所提控制方案化大量积分运算为简单的加减乘除四则运算,因此大大减少了计算量,非常适用于机载计算机运算能力有限的空间机器人控制系统的实时、在线应用。仿真运算证实了方法的有效性。
The control problem of floating-base dual-arm space robot system with uncontrolled position and attitude was studied. In order to maintain the linearity of the system control equation with respect to the inertial parameters, the dynamics of the floating-arm dual-arm space robot system are described as under-actuated. The dynamic analysis of the system shows that the extended generalized Jacobian matrix based on the augmented variable method can also be expressed as a set of linear functions of a properly chosen inertial parameter. On this basis, aiming at the complicated situation that the system has external disturbances and the load parameters of the two end-jaw claws are uncertain, Adaptive hybrid control scheme. Compared with the adaptive control method, the proposed control scheme for a large number of integral operations for the simple addition, subtraction, multiplication and division of four operations, thus greatly reducing the amount of computation, ideal for on-board computer operations limited space robot control system in real time, online application. Simulation results show the effectiveness of the method.