| 双臂空间机器人惯性空间轨迹的非线性反馈跟踪控制 |
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| 引用本文： | 葛景华,陈力,郭益深. 双臂空间机器人惯性空间轨迹的非线性反馈跟踪控制[J]. 集美大学学报(自然科学版), 2007, 12(3): 232-236 |
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| 作者姓名： | 葛景华 陈力 郭益深 |
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| 作者单位： | 集美大学轮机工程学院,福建,厦门,361021;福州大学机械工程及自动化学院,福建,福州,350002 |
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| 基金项目： | 国家自然科学基金 , 福建省自然科学基金 |
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| 摘 要： | 讨论了载体姿态及位置均不受控制的自由漂浮双臂空问机器人系统的轨迹控制问题.首先,根据双臂空间机器人系统的动量、动量矩守恒关系及系统的Jacobian矩阵,得出机械臂末端抓手加速度与关节角速度、角加速度的关系.然后,根据Roberson-Wittenburg方法推导出系统动力学方程.以此为基础,设计了自由漂浮双臂空间机器人系统机械臂末端抓手惯性空间轨迹的非线性反馈跟踪控制方案.仿真结果证明了上述控制方法的有效性.
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| 关 键 词： | 双臂空间机器人 Roberson-Wittenburg方法 非线性反馈控制 |
| 文章编号： | 1007-7405（2007）03-0232-05 |
| 修稿时间： | 2006-10-24 |
Nonlinear Feedback Control of Dual-arm Space Robot Systems in Inertial Space |
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| GE Jing-hua,CHEN Li,GUO Yi-shen. Nonlinear Feedback Control of Dual-arm Space Robot Systems in Inertial Space[J]. the Editorial Board of Jimei University(Natural Science), 2007, 12(3): 232-236 |
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| Authors: | GE Jing-hua CHEN Li GUO Yi-shen |
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| Affiliation: | 1. Marine Engineering Institute, Jimei University, Xiamen 361021, China; 2. College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China |
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| Abstract: | The paper studies the nonlinear feedback control problem of free-floating dual-arm space robot systems. With the linear and angular momentum conversation and the Jacobian matrix of system, the relationship between the acceleration of the end-effectors and the joint velocity and acceleration is derived. And then through the Roberson-Wittenburg formulation, the system dynamic equation is obtained. Based on the above results, the nonlinear feedback control scheme of free-floating dual-arm space robot systems to track the trajectories in inertial space is developed. A planar dual-arm space robot system is simulated to verify the proposed control scheme. |
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| Keywords: | dual-arm space robot systems Roberson-Wittenburg formulation nonlinear feedback control scheme |
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