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讨论了载体姿态受控、位置不受控制情况下,漂浮基双臂空间机器人载体姿态与末端爪手惯性空间轨迹协调运动的控制问题。利用拉格朗日方法并结合系统动量守恒关系,分析、建立了漂浮基双臂空间机器人系统完全能控形式的系统动力学方程及运动Jacobi关系。以此为基础,针对双臂空间机器人两个末端爪手所持载荷参数未知的情况,设计了一种基于标称计算力矩控制器附加模糊自适应补偿控制器的复合控制方案;即通过模糊自适应补偿控制器来弥补系统参数未知对标称计算力矩控制器控制精度的影响,以确保存在未知系统参数情况下整个闭环控制系统的渐近稳定性。该文提出的控制方案能够有效地克服系统未知参数的影响,控制漂浮基双臂空间机器人载体姿态与末端爪手协调地完成惯性空间的期望轨迹运动,并具有不需要测量和反馈双臂空间机器人载体的位置、移动速度、移动加速度,同时也不要求系统动力学方程关于系统惯性参数呈线性函数关系的显著优点。通过系统数值仿真证实了方法的有效性。
In this paper, the control of the coordinated motion between the attitude of the floating double-arm space robot and the inertial space trajectory of the tip claw is discussed under the condition that the attitude of the vehicle is controlled and the position is not controlled. Based on the Lagrange method and the conservation of momentum of the system, the system dynamic equations and the Jacobi kinematics of the fully-controllable floating-base dual-arm space robot system are established. Based on this, aiming at the unknown load parameters of the two end-claws of the two-arm space robot, a compound control scheme based on the nominal fuzzy controller with fuzzy adaptive compensation controller is designed. That is, Compensation controller to make up for the influence of unknown system parameters on the control accuracy of the nominal calculated torque controller to ensure the asymptotic stability of the entire closed-loop control system in the presence of unknown system parameters. The control scheme proposed in this paper can effectively overcome the influence of unknown parameters of the system and control the attitude of the floating-base dual-arm space robot in coordination with the terminal claw hand to complete the desired orbit trajectory in inertial space and has the advantages of no need to measure and feed back the dual-arm space robot The position of the carrier, the speed of movement and the acceleration of the movement also do not require significant advantages of the system dynamics equations as a linear function of the system inertia parameters. The numerical simulation of the system verifies the effectiveness of the method.