带滑移铰空间机械臂协调运动的自适应分解运动控制

讨论了载体位置不受控制的漂浮基带滑移铰空间机械臂本体姿态与末端抓手惯性空间轨迹协调运动的逆运动学问题.结合系统动量守恒关系进行的系统运动学分析表明,可以将空间机械臂本体姿态与末端抓手惯性空间轨迹协调运动的增广广义Jacob i矩阵表示为一组适当选择的组合惯性参数的线性函数.以此为基础,设计了系统部分参数未知情况下,由本体姿态期望运动及机械臂末端抓手惯性空间期望运动轨迹产生机械臂关节铰期望角速度、角加速度的自适应控制算法.由于充分利用了空间机械臂系统动量守恒的动力学特性,本文提出的方法具有不需要测量、反馈载体基的位置、移动速度及移动加速度的显著优点.系统数值仿真证实了该方法的有效性.

Resolved motion adaptive control of coordinated motion of space manipulator system with prismatic joint

The inverse kinematics of coordinated motion of free-floating space manipulator system with prismatic joint is studied.It is verified that the generalized Jacobian matrix that relates augmented output velocity vector to generalized joint motions vector can be linearly dependent on a group of inertial parameters.Based on the results,the adaptive control schemes of resolved motion velocity and acceleration of coordinated motion for space manipulator system with uncertain parameters to track desired trajectory in workspace are developed.The advantages of the control schemes proposed are that it needn't to measure the position,velocity and acceleration of the spacecraft, because of an effective exploitation of the particular property of the system dynamics.It is demonstrated with a simulation of two-link space manipulator system that the both schemes proposed are efficient.