柔性臂漂浮基空间机器人建模与轨迹跟踪控制

利用拉格朗日法和假设模态方法建立了末端柔性的两臂漂浮基空间机器人的非线性动力学方程．通过坐标变换,推导出一种新的以可测关节角为变量的全局动态模型，并在此基础上运用基于模型的非线性解耦反馈控制方法得到关节相对转角与柔性臂的弹性变形部分解耦形式控制方程．最后，讨论了柔性臂漂浮基空间机器人的轨迹跟踪问题，并通过仿真实例计算,表明该模型转换及控制方法对于柔性臂漂浮基空间机器人末端轨迹跟踪控制的有效性．

Modeling and Trajectory Tracking Control of a Free-Floating Space Robot with Flexible Manipulators

Nonlinear dynamic equations of a free-floating space robot with two manipulators and a flexible end-manipulator are established based on Lagrange and assumed mode methods.Its new global dynamic model in terms of measured joints is derived by coordinate transformation,and the decoupled control equations for joint relative angles and elastic parts of the flexible manipulator are obtained with the model-based nonlinear decoupling feedback control method.Trajectory tracking control of the free floating space robot with flexible manipulators is discussed,and the numerical simulation shows that the proposed model transformation and control method is efficient in trajectory tracking control of free floating space robot with flexible manipulators.