全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...
工程力学  2012 

基于柔性补偿的带柔性铰空间机器人鲁棒控制

DOI: 10.6052/j.issn.1000-4750.2011.04.0218, PP. 53-57

Keywords: 带柔性铰空间机器人,柔性补偿,奇异摄动技术,工作空间,鲁棒控制

Full-Text   Cite this paper   Add to My Lib

Abstract:

研究了载体位姿均不受控制的漂浮基带柔性铰空间机器人工作空间轨迹跟踪的鲁棒控制问题。利用系统动量、动量矩守恒关系及拉格朗日方法,导出了系统的动力学方程。考虑到空间机器人各关节铰往往具有较强的柔性,引入了一种关节柔性补偿控制器,以较好地补偿关节柔性对系统控制精度所带来的影响。之后结合奇异摄动技术,针对系统惯性参数存在不确定的复杂情况,提出了一种空间机器人工作空间期望运动轨迹跟踪的鲁棒控制方案。通过对一个平面带柔性铰空间机器人系统的数值仿真运算,证实了上述方法的有效性。

References

[1]  李俊峰, 王照林. 带空间机械臂的充液航天器姿态动力学研究[J]. 宇航学报, 1999, 20(2): 81―86.
[2]  Li Junfeng, Wang Zhaolin. Study on attitude dynamics of a liquid-filled spacecraft with manipulators [J]. Journal of Astronautics, 1999, 20(2): 81―86. (in Chinese)
[3]  陈志勇, 陈力. 具有外部扰动及不确定载荷参数双臂空间机器人的拟增广鲁棒与自适应混合控制[J]. 工程力学, 2010, 27(12): 27―33. 浏览
[4]  Chen Zhiyong, Chen Li. Robust-adaptive combined control for dual-arm space robot with external disturbances and uncertain parameters [J]. Engineering Mechanics, 2010, 27(12): 27―33. (in Chinese) 浏览
[5]  Newton R T, Xu Y S. Real-time implementation of neural network learning control of a flexible space manipulator [C]//Khosla P K. Proceedings of IEEE International Conference on Robotics and Automation. Atlanta USA, IEEE, 1993.
[6]  戈新生, 崔玮, 赵秋玲. 刚柔性耦合机械臂轨迹跟踪与振动抑制[J]. 工程力学, 2005, 22(6): 188―191. 浏览
[7]  Ge Xinsheng, Cui Wei, Zhao Qiuling. Trajectory tracking control and vibration suppression of rigid flexible manipulator [J]. Engineering Mechanics, 2005, 22(6): 188―191. (in Chinese) 浏览
[8]  洪在地, 贠超, 陈力. 柔性臂漂浮基空间机器人建模与轨迹跟踪控制[J]. 机器人, 2007, 29(1): 92―96.
[9]  Hong Zaidi, Yun Chao, Chen Li. Modeling and trajectory tracking control of a free-floating space robot with flexible manipulators [J]. Robot, 2007, 29(1): 92―96. (in Chinese)
[10]  Spong M W. Modeling and control of elastic joint robots [J]. Journal of Dynamic Systems, Measurement and Control, 1987, 109(4): 310―319.
[11]  陈力. 参数不确定空间机械臂系统的鲁棒自适应混合控制[J]. 控制理论与应用, 2004, 21(4): 512―516.
[12]  Chen Li. Robust and adaptive composite control of space manipulator system with uncertain parameters [J]. Control Theory & Applications, 2004, 21(4): 512―516. (in Chinese)
[13]  Hu Yanru, Vukovich George. Modeling and control of free-flying flexible joint coordinated robots [C]//Antal K B. Proceedings of the 8th International Conference on Advanced Robotics. Monterey USA, IEEE, 1997: 1013―1020.
[14]  Ghorbel F, Hung J Y, Spong M W. Adaptive control of flexible-joint manipulators [J]. IEEE Control Systems Magazine, 1989, 9(7): 9―13.
[15]  刘业超, 金明河, 刘宏. 柔性关节机器人基于柔性补偿的奇异摄动控制[J]. 机器人, 2008, 30(5): 460―466.
[16]  Liu Yechao, Jin Minghe, Liu Hong. Singular perturbation control for flexible-joint manipulator based on flexibility compensation [J]. Robot, 2008, 30(5): 460―466. (in Chinese)
[17]  Kokotovic P V, Khalil H K, Reilly J O. Singular perturbation methods in control: analysis and design [M]. Inc. Orlando: Academic Press, 1986: 2―22.
[18]  王从庆, 石宗坤, 袁华. 自由浮动空间双臂机器人的鲁棒协调控制[J]. 宇航学报, 2005, 26(4): 436―440.
[19]  Wang Congqing, Shi Zongkun, Yuan Hua. Robust coordinated control of a free-floating dual-arm space robot [J]. Journal of Astronautics, 2005, 26(4): 436―440. (in Chinese)
[20]  Kazuya Yoshida. Space robot dynamics and control: a historical perspective [J]. Journal of Robotics and Mechatronics, 2000, 12(4): 402―410.
[21]  Yale G E, Agrawal B N. Lyapunov controller for cooperative space manipulators [J]. Journal of Guidance, Control, and Dynamics, 1998, 21(3): 477―484.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133