基于滤波滑模控制的空间柔性机器人系统控制仿真研究

针对一种刚柔结合的空间冗余度机器人,基于拉格朗日法、假设模态法和系统动量守恒对柔性连杆进行近似描述,忽略高阶弹性振动模态,借助Maple软件,推导了一种自由浮动空间柔性冗余机器人操作刚性负载的动力学模型,该方法提高了建模的正确性.并在此基础上,鉴于自由浮动空间机器人系统的结构复杂性和参数变动性,运用具有较强鲁棒性的滑模变结构控制对该动力学模型实现了轨迹跟踪控制,较好地抑制了柔性杆弹性振动,并减小了对本体的影响.最后进行了自由浮动三自由度柔性冗余度机器人的动力学控制仿真,仿真结果验证了上述控制方法的有效性.

Dynamics modeling and trajectory tracking control of free-floating flexibly redundant space robot

Aiming at a space redundant robot with the combination of flexibility and rigidity,on the basis of the assumed modes method,Lagrange principle and momentum conservation,ignoring high stretch libration model,adopting Maple software,the dynamic modeling of a free-floating flexibly redundant space robot holding a rigid payload is derived,which can enhance the correctness of modeling.Furthermore,due to the complexity of the structure and mobility of parameters of the free-floating space robot system,the trajectory tracking for the space robot is performed via a robustness sliding mode control approach to restrain flexible libration and diminish the impact on reality.Finally,some simulation results for the space flexibly redundant robot with 3 degree of freedom verify the effectiveness of the proposed methods.