参数不确定双臂空间机器人姿态、关节协调运动的变结构鲁棒控制方法

Robust Variable Structure Control for the Harmonic Motion of a Space Robot System with Dual-arms

讨论了载体位置不受控制情况下,具有参数不确定性的漂浮基双臂空间机器人姿态、关节协调运动的控制问题。结合系统动量守恒关系进行的系统运动学、动力学分析表明,可以得到一组与适当选择的组合惯性参数呈线性函数关系的系统动力学方程。以此为基础,针对双臂空间机器人末端爪手所持载荷参数不确定,但误差范围可确定的情况,设计了漂浮基双臂空间机器人姿态、关节协调运动的变结构鲁棒控制方案。该控制方案的优点在于:不需要反馈、测量漂浮基的位置、移动速度及移动加速度,且与自适应控制方案相比,化积分运算为简单四则运算,计算量大为减少,有利于克服机载计算机计算能力有限的问题。一个平面双臂空间机器人的系统数值仿真,证实了方法的有效性。

The kinematics and dynamics of a free-floating space robot system with dual-arms are analyzed. It is demonstrated that the dynamic equations of the system can be linearly dependent on a group of inertial parameters. Based on the results, a robust variable structure controller for the harmonic motion of a space robot system with dual-arms and with uncertain inertial parameters to track the system with dual arms is simulated to verify the proposed desired trajectory is proposed, and a planar space robot control scheme. The advantage of the proposed control scheme is that it does not require measuring the position, velocity and acceleration of the floating base. In addition to this advantage, it is computationally simple, because we choose to make the controller robust to the uncertain inertial parameters rather than explicitly estimating them online.