平面型两关节空间机器人的自适应轨迹控制

基于参数线性分离方法，得到了平面型两关节空间机器人线性参数化形式的动力学模型，这种模型非常适合于采用自适应控制方法。控制策略考虑了机器人各关节之间的耦合及机械臂与基座航天器之间的耦合，对航天器姿态的控制和机械臂的控制进行综合，在满足手端跟踪期望轨迹的同时，保证航天器姿态基本不变。控制器由一个PD反馈项和一个补偿动力学不确定性的非线性自适应反馈项构成，能够保证对期望关节轨迹的全局渐进跟踪，提高了空间机器人操作的适应性和安全性。

Adaptive Trajectory Control of Planar Two - Joint Space Robot

A linear parameterized dynamics model of planar two- joint space robot has been derived on the basis of the linear separation of parameters. It is very useful for adaptive con-trol. Both the couples between joints of robot and the couple between the manipulator and the base are concerned in the control strategies, and the controls of both spacecraft attitude and manipulator are synthesized. The attitude of base was hold when the end- effector track the desired trajectory. The controller consists of a PD feedback loop and a nonlinear adaptive feedback loop for compensating the uncertainties of dynamics, thus able to guarantee asymptotic tracking of the desired trajectory, and to improve the adaptability and safety of the space robot.