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采用拉格朗日法、假设模态法和系统动量守恒原理,推导了一种平面内三连杆的自由浮动刚柔耦合冗余度空间机械臂的动力学模型.基于最小关节驱动力矩优化,建立了自由浮动刚柔耦合冗余度空间机械臂的混沌运动状态方程,采用混沌数值方法分析机械臂运动中的混沌现象,分别在工作空间、关节空间和模态空间,设计鲁棒Proportional-Derivtive(PD)补偿控制、延迟反馈控制和模态力最优控制,实现了轨迹跟踪、混沌运动抑制和振动控制.通过数值仿真验证了建模与控制方法的有效性.
Based on the Lagrange method, the modal method and the principle of system momentum conservation, a dynamic model of a three-link free-floating rigid-flexible coupled space robot with in-plane three-bar linkage is derived. Based on the optimization of the minimum joint torque, Chaos motion state equations of the manipulator with free-floating rigid-flexible coupling redundancy are established. The chaos numerical method is used to analyze the chaos in the manipulator motion. The robust Proportional-Derivtive (PD) compensation control, delay feedback control and optimal control of modal force, trajectory tracking, chaos suppression and vibration control are achieved. The effectiveness of modeling and control methods is verified by numerical simulation.