| 空间机械臂位形与基座姿态协同控制研究 |
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| 引用本文： | 税海涛,李迅,马宏绪.空间机械臂位形与基座姿态协同控制研究[J].宇航学报,2011(8). |
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| 作者姓名： | 税海涛 李迅 马宏绪 |
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| 作者单位： | 国防科技大学机电工程与自动化学院; |
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| 摘 要： | 针对自由飘浮空间机械臂与基座的运动耦合问题,提出了一种基于不变流形的机械臂位形与基座姿态协同控制算法。在分析了系统可控性的基础上,构造了线性状态反馈下系统的不变流形,并设计了分段连续的镇定控制器。该控制器先将系统状态镇定到不变流形之上,然后沿该流形将系统状态调整到期望值。仿真结果表明,在系统可控的条件下,所提出的协同控制算法能将机械臂位形与基座姿态同时调整到期望状态。
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| 关 键 词： | 自由飘浮空间机器人 协同控制 不变流形 |
Coordinated Control for Space Manipulator Configuration and Base Orientation |
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| SHUI Hai-tao,LI Xun,MA Hong-xu.Coordinated Control for Space Manipulator Configuration and Base Orientation[J].Journal of Astronautics,2011(8). |
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| Authors: | SHUI Hai-tao LI Xun MA Hong-xu |
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| Institution: | SHUI Hai-tao,LI Xun,MA Hong-xu(College of Electromechanical Engineering & Automation,National University of Defense Technology,Changsha 410073,China) |
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| Abstract: | As for the dynamic coupling between a free-floating space manipulator and its base,a coordinated control algorithm for the manipulator configuration and the base orientation is proposed.At first,the controllability of the system is analyzed.Then the invariant manifold with a linear state feedback is constructed and the piecewise-smooth controller is designed.The system states are stabilized onto the invariant manifold,and then are regulated to the desired configuration along the manifold.At last,simulation ... |
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| Keywords: | Free-floating space robot Coordinated control Invariant manifold |
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