漂浮基空间机械臂分解运动控制的增广自适应算法

本文讨论了载体位置与姿态均不受控制的漂浮基两杆空间机械臂系统的逆运动学问题 ，推导了系统的运动学、动力学方程．分析表明，结合系统动量守恒及动量矩守恒关系得到 的系统广义Jacobi关系为系统惯性参数的非线性函数．本文证明了，借助于增广变量法可以 将增广广义Jacobi矩阵表示为一组适当选择的惯性参数的线性函数．并在此基础上，给出了 系统参数未知时由空间机械臂末端惯性空间期望轨迹产生机械臂关节铰期望角速度、角加速 度的增广自适应控制算法．仿真运算，证实了方法的有效性．

THE ADAPTIVE CONTROL SCHEMES OF RESOLVED MOTION FOR SPACE BASED MANIPULATOR TO TRACK THE DESIRED TRAJECTORY OF WORKSPACE

In this paper , the inverse kinematics of a free floating space manipulator system is studied, and it is shown that the Jacobian matrix is unlinearly dependent on inertial parameters. With the augmentation approach, we demonstrate that the augmented generalized Jacobian matrix can be linearly dependent on inertial parameters. According to the results, when the inertial parameters are unknown, two adaptive control schemes for a free floating space manipulator system to track the desired trajectory of workspace are proposed. A two link planar space manipulator system is simulated to verify both proposed control schemes.