摘要
研究了载体位姿均不受控制的漂浮基带柔性铰空间机器人工作空间轨迹跟踪的鲁棒控制问题。利用系统动量、动量矩守恒关系及拉格朗日方法,导出了系统的动力学方程。考虑到空间机器人各关节铰往往具有较强的柔性,引入了一种关节柔性补偿控制器,以较好地补偿关节柔性对系统控制精度所带来的影响。之后结合奇异摄动技术,针对系统惯性参数存在不确定的复杂情况,提出了一种空间机器人工作空间期望运动轨迹跟踪的鲁棒控制方案。通过对一个平面带柔性铰空间机器人系统的数值仿真运算,证实了上述方法的有效性。
The robust control problem of a free-floating flexible-joint space robot with an uncontrolled base to track the desired trajectory in workspace is discussed. With the system linear and angular momentum conservation and Lagrangian method, the dynamic equations are derived. In the consideration of the strong joint flexibility of a space robot, a joint flexibility compensation controller is designed to compensate the effects of the joint flexibility to the system control precision. Then by using of the singular perturbation technology, a robust control scheme for the robot system with uncertain inertial parameters to track the desired trajectory in workspace is presented. A planar space robot system with flexible joints is simulated to verify the effectiveness of the proposed control method.
出处
《工程力学》
EI
CSCD
北大核心
2012年第11期53-57,共5页
Engineering Mechanics
基金
国家自然科学基金项目(11072061
10672040)
福建省自然科学基金项目(2010J01003)
关键词
带柔性铰空间机器人
柔性补偿
奇异摄动技术
工作空间
鲁棒控制
flexible-joint space robot
flexibility compensation
singular perturbation technology
workspace
robust control
