空间机器人关节轨迹运动的一种鲁棒变结构控制方法

讨论了载体位置与姿态均不受控制的自由浮动两杆空间机器人系统的控制问题 .系统动力学分析结果表明 ,结合系统动量守恒及动量矩守恒关系得到的系统动力学方程将为系统惯性参数的非线性函数 .借助于增广变量法 ,即通过适当扩展系统的输入与输出可以得到一组控制方程 ,它们可以表示为一组适当选择的惯性参数的线性函数 .在此基础上 ,对于机械手末端载荷参数不确定但误差范围可确定的情况 ,设计了关节空间轨迹跟踪的鲁棒变结构控制方案 .仿真运算 ,证实了方法的有效性 .

Robust variable structure control of joints motion of space - based robot system

The control problem of space-based robot system was studied, and the kinematics and dynamics of the system were analyzed. It was shown that the dynamic equations of the system would be non-linearly dependent on inertial parameters. With the augmentation approach and the momentum conservation of system, the dynamic equations of the system were modeled as under-actuated form, and could be linearly dependent on a group of inertial parameters. Based on the results, the robust control scheme for space-based robot system with uncertain payload parameters to track the desired trajectory in joint space was proposed, and the global convergence of the tracking was verified by using the Lyapunov method. A two-link planar space-based robot system was simulated to verify the proposed control scheme.