漂浮基空间机器人及其柔性影响下逆模神经网络控制

Inverse-model Neuro-control of Free-floating Space Robot with Rigid Manipulators and Rigid-flexible Manipulators

针对漂浮基空间机器人及其柔性影响下动力学模型,提出一种神经网络控制方法,把神经网络和传统反馈PI控制相结合构成一种混合性机器人逆模学习控制方案,并分析此控制方法工作原理。最后给出带两机械臂漂浮基空间机器人的仿真结果。结果表明所应用逆模控制方法具有较快收敛性和较高跟踪控制精度,是一种有效的控制方法。

A robotic neuro-control that connects the neural network and PI control to construct a hybrid scheme of robotic inverse-model learning control has been proposed for trajectory tracking control free-floating space robot with rigid manipulators and ridid-flexible manipulators,and the working principles of control are demonstrated.Finally,a simulation of control scheme for a free-floating space robot with two-manipulator was made.The simulation results have shown that the proposed inverse-model learning neuro-...