自由漂浮双臂空间机器人关节空间轨迹跟踪的变结构滑模控制

利用多刚体系统动力学的方法对载体位置、姿态均不受控制的浮动基双臂空间机器人系统的运动学、动力学作了分析,并结合系统的动量守恒及动量矩守恒关系建立了系统的动力学方程.以此为基础,对双臂空间机器人关节追踪关节空间期望轨迹的控制问题作了研究.考虑到双臂空间机器人系统的结构复杂性及某些参数的变动性,根据具有较强鲁棒性的变结构滑模控制理论,设计了轨迹跟踪控制的变结构滑模控制方案.此控制方案的优点在于:在操作过程中不需要对双臂空间机器人载体的位置、姿态进行主动控制,因此将大大减少位置、姿态控制装置的燃料消耗.通过对该机器人系统的仿真计算,证实了文中提出的变结构滑模控制方案的有效性.

Variable structure sliding- mode control for a free- floating dual -arm space robot to track desired trajectory in joint space

The kinematics and dynamics of free-floating dual-arm space robot systems are analyzed.By use the method of multibody dynamics,the dynamics equations of dual-arm space robot are established.Based on the results,the control problem for dual-arm space robot to track the desired trajectory in joint space is discussed.Because of the high structure complexity and the parameter uncertainty of dual-arm space robot systems,the scheme of variable structure sliding-mode control with better robustness to uncertainty and disturbance is proposed.The advantages of the control scheme proposed are that it needn't to control the position and attitude of the base.To show the feasibility of the proposed control scheme,a simulation study of dual-arm space robot is presented.