空间机械臂本体与末端抓手协调运动的自适应控制方法

讨论了载体位置不受控制的漂浮基空间机械臂本体与末端抓手协调运动的自适应控制问题. 对系统的运动学、动力学分析表明, 结合系统动量守恒关系得到的系统动力学方程及协调运动的增广广义Jacobi矩阵可以表示为适当选择的组合惯性参数的线性函数. 以此为基础, 对于系统存在未知参数的情况, 设计了本体姿态与机械臂末端抓手惯性空间轨迹协调运动的自适应控制方案. 上述控制方案的显著优点在于: 不需要测量、反馈飞行器本体的位置、移动速度及移动加速度. 仿真运算, 证实了上述控制方案的有效性.

The Adaptive Control of Coordinated Motion of Spacecraft Attitude and Its Manipulator

The adaptive control of coordinated motion of spacecraft attitude and manipulator of the space manipulator systems whose spacecraft position is not controlled is discussed. So the kinematics and dynamics of the system are analyzed, and it is demonstrated that the augmented generalized Jacobian matrix and the system dynamic equations can be linearly dependent on a group of inertial parameters. Based on the results, the adaptive control scheme of coordinated motion of spacecraft attitude and the desired trajectory in workspace of its manipulator is proposed, and a two_link planar space manipulator system is simulated to verify the proposed control scheme. The advantages of the adaptive control scheme proposed are that it need not to measure the position, velocity and acceleration of the spacecraft, and so do the angle acceleration of joints.