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带有柔性补偿的柔性关节空间机器人的增广自适应控制及关节振动抑制
引用本文:陈志勇,陈力.带有柔性补偿的柔性关节空间机器人的增广自适应控制及关节振动抑制[J].宇航学报,2013,34(12):1599-1604.
作者姓名:陈志勇  陈力
作者单位:福州大学机械工程及自动化学院,福州 350108
基金项目:国家自然科学基金(11072061, 10672040);福建省自然科学基金(2010J01003);福州大学科技发展基金(2013-XY-13);福州大学人才基金(XRC-1232)
摘    要:

关 键 词:柔性关节空间机器人  柔性补偿  奇异摄动  增广法  自适应控制  
收稿时间:2013-01-14

Augmented Adaptive Control and Joint Vibration Suppression for Flexible Joint Space Robot with Flexibility Compensation
CHEN Zhi yong,CHEN Li.Augmented Adaptive Control and Joint Vibration Suppression for Flexible Joint Space Robot with Flexibility Compensation[J].Journal of Astronautics,2013,34(12):1599-1604.
Authors:CHEN Zhi yong  CHEN Li
Institution:College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China
Abstract:The problems of joint motion control and flexible vibration suppression of a flexible joint space based robot for manipulating an unknown payload are studied. Based on the system linear momentum conservation and the Lagrange method, the under actuated dynamics model of the space robot is established. For convenience of the design of its control system, the system is divided into both fast and slow subsystems by using the joint flexibility compensation technique and the singular perturbation theory. A torque differential feedback controller is proposed for the fast subsystem to suppress the joints’ flexible vibration, meanwhile an adaptive control scheme based on the augmentation approach is designed for the slow subsystem to realize the joint trajectory asymptotic tracking under the condition of unknown payload parameters. Because of introduction of the flexibility compensation technique, the presented control scheme can equivalently increase the joint stiffness, and it is suitable to control the space robot systems with low joint stiffness. Moreover, the effect of unknown parameters is real time compensated by its adaptive controller, and then the specified joint motion task is achieved precisely. The effectiveness of the scheme is verified by the corresponding simulation results.
Keywords:Flexible joint space robot  Flexibility compensation  Singular perturbation  Augmentation approach  Adaptive control  
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