空间机器人的目标捕获自适应控制

首先推导了基座姿态受控空间机器人系统运动学关系，得到了广义雅可比矩阵。根据目标的运动来规划机械臂末端在惯性空间的期望轨迹。对机器人动力学和运动学关系式进行线性参数比，分别对动力学待估参数和运动学待估参数设计在线修正律，在关节空间采用自适应控制。对于存在动力学参数不确知的机器人系统，算法保证了系统的渐近稳定，在成目标捕获任务的同时，控制基座姿态保持在期望范围之内。以平面两关节空间机器人系统为对象进行了仿真，结果表明了算法的可行性和有效性。

Object Capture Adaptive Control for Space Robot

Kinematics of the space robot system with an attitude controlled robot is derived and the generalized Jacobian is given.Desired trajectory of the robot end effector in inertial space is planed based on the movement of the object.Kinematics and dynamics can be linearized by a set of combined parameters,the update law of the parameters is designed respectively.Adaptive control is adopted in joint space.When the dynamic parameters are unknown,the algorithm can keep asymptotic stable of the system,and the attitude of base is remained when the end effector is tracking the desired trajectory to capture the object.Planar two joint space robot is simulated to verify the validity and effectiveness of the algorithm.