| 空间机器人关节空间轨迹跟踪的补偿学习控制 |
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| 引用本文： | 郑明辉,唐晓腾. 空间机器人关节空间轨迹跟踪的补偿学习控制[J]. 福建建筑高等专科学校学报, 2009, 0(6): 623-627 |
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| 作者姓名： | 郑明辉 唐晓腾 |
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| 作者单位： | [1]福建工程学院机电及自动化工程系,福建福州350108 [2]闽江学院汽车系,福建福州350108 |
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| 基金项目： | 基金项目：福建省重大科技专项资助项目（E0300064）;福建省教育厅A类科技项目（JA09181） |
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| 摘 要： | 讨论了具有不确定性的漂浮基空间机器人系统的控制问题。在载体位置不控、姿态受控情况下,结合系统动量守恒关系对系统进行了运动学、动力学的分析,得到了漂浮基空间机器人的系统动力学方程。由系统的闭环动态误差方程,设计了漂浮基空间机器人的控制方案,提出了一种补偿学习控制方法,给出了漂浮基空间机器人系统的数值仿真,验证了该方法的有效性。
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| 关 键 词： | 空间机器人 遗传算法 学习控制 关节空间 |
Compensating learning control for trailing spatial trajectory of space robot s joints |
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| Zheng Minghui,Tang Xiaoteng. Compensating learning control for trailing spatial trajectory of space robot s joints[J]. Journal of Fujian College of Architecture & C.E., 2009, 0(6): 623-627 |
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| Authors: | Zheng Minghui Tang Xiaoteng |
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| Affiliation: | 1. Electromechanical and Automation Engineering Department, Fujian University of Technology, Fuzhou 350108, China; 2. Automobile Department, Minjiang University, Fuzhou 350108, China) |
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| Abstract: | The control of free-floating space robot system with uncertainty was discussed. The kinematics and dynamics of the robot system were analyzed by considering the system＇s momentum conservation under free carrier position and Controlled attitude. A dynamic equation for the space robot was derived. A control scheme of the floating space robot was presented. A compensation method of learning control was proposed. Numerical simulation of the space robot system was conducted. The results confirm the efficiency of the method. |
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| Keywords: | space robot genetic algorithm learning control joint space |
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