自由浮动空间双臂机器人的鲁棒协调控制

Robust Coordinated Control of A Free-Floating Dual-arm Space Robot

研究自由浮动空间双臂机器人在本体位置、姿态均不加控制时,抓取物体运动情况下的动力学协调控制。根据空间双臂机器人抓取系统的闭链约束关系,推导出广义雅可比矩阵,针对抓取系统动力学模型的不确定性,提出一种鲁棒协调控制方法,来控制被抓物体的运动,使被抓物体的运动轨迹跟踪期望的运动轨迹,并保证内力跟踪误差的有界性。通过对自由浮动空间平面双臂机器人进行鲁棒协调控制仿真实验,结果表明了该方法的有效性。

The problem of dynamic coordinated control for a dual-arm space robot handing a single object without base position and orientation control is studied in this paper. The generalized Jacobian matrix in terns of closed chain constraints between the object and ends of the dual-arm space robot is derived. And then aiming at uncertainty of the grasp system consisting of the dualarm space and the object, a robust control scheme is presented to coordinate the movement of the object position asymptotically converging to the object desired trajectory, Boundary of tracking errors for the internal force is guaranteed by the robust control scheme. The validity of this method is proved by simulations for a planar dual-arm space robot with three freedoms.