空间机械臂建模方法与控制策略研究

针对刚柔耦合空间机械臂动力学建模中对柔性体采用的传统描述方法（有限元法、模态综合法以及集中参数法等）并不足以精确描述柔性大变形的问题，采用绝对节点坐标法描述柔性体，采用自然坐标法描述刚性体，建立了末端带集中质量的双连杆柔性机械臂的动力学模型并且研究了机械臂的空间定位问题。结合广义α法以及工程上常用的Scaling技术，开发了计算程序，实现了动力学方程的高效精确数值求解。针对机械臂的空间定位以及柔性变形问题，提出了一种运动规划方案，采用PD控制策略，实现了机械臂的运动跟踪控制；仿真结果表明：提出的运动规划方案能有效地减弱机械臂的柔性变形。

Research on Modeling and Control Scheme of Space Manipulator

The conversional methods for describing flexible bodies in the dynamics modeling of a rigid\|flexible coupled space manipulator, such as finite element method, modal synthetic method and lumped parameter method, are not sufficient to describe large deformation precisely, so both Absolute Nodal Coordinate Formulation (ANCF) for describing flexible bodies and Nature Coordinate Formulation (NCF) for describing rigid bodies are utilized to establish dynamical model of two\|link flexible manipulator with lumped mass, and then its space positioning is studied. Both generalized\|α method and Scaling technique are utilized to develop calculating program aimed to solve dynamics equations precisely and efficiently. Considering the problem of space positioning and deformation of the flexible manipulator, a motion planning scheme is proposed and PD control scheme is adopted to achieve motion tracking. Simulation results show that the motion planning scheme is efficient to weaken the deformation of flexible manipulator.