双臂空间机器人关节运动的一种增广自适应控制方法

讨论了载体位置、姿态均不受控制情况下,具有未知参数的自由漂浮双臂空间机器人系统的自适应控制问题.由于此类机器人系统具有结合系统动量及动量矩守恒关系得到完全能控形式的系统动力学方程,以及系统惯性参数不符合惯常的线性函数关系的特点,因而地面机器人的控制方法在此难以直接推广应用.为了克服上述难点,仅将系统动量守恒关系耦合到系统动力学方程当中,而不耦合系统动量矩守恒关系,结果得到一组欠驱动形式的系统动力学方程.该系统动力学方程的优点是关于一组组合惯性参数能保持惯常的线性函数关系.以此为基础,并借助增广变量法,针对双臂空间机器人末端爪手所持载荷参数未知的情况,设计了关节空间轨迹跟踪的自适应控制方案.该控制方案的显著优点为,不需要测量、反馈双臂空间机器人漂浮基的位置、移动速度和移动加速度.系统的数值仿真,证实了方法的有效性.

Adaptive Control for Free-Floating Dual-Arm Space Robot System in Joint Space

In this paper,the dynamics and control problems of free-floating dual-arm space robot system is studied.With the momentum conservation of system,the kinematics and dynamics of system are analyzed.It is verified that the dynamic equations of the system can be linearly dependent on a group of inertial parameters.Based on the results and with the augmentation approach,an adaptive control scheme for space robot system with unknown payload parameters to track the desired trajectory in joint space is developed.The control scheme proposed above is structurally and computationally simple,because of an effective exploitation of the system dynamics.In particular, it doesn't require measuring the position,velocity nor acceleration of the base.And the numerical simulation is carried out,which confirms the controller proposed is feasible and effective.