摘要
柔性多臂空间机器人是一个高度非线性、强耦合的动力学系统。本文基于假设模态法、La-grange方程和动量守恒原理,推导了一种自由浮动柔性双臂空间机器人协调操作刚性负载闭链系统的动力学模型。针对空间柔性机械臂的弹性形变和振动问题,设计了线性二次型最优控制方法对其进行振动主动控制,并通过仿真实验验证了该方法的有效性。
The flexible multi-arm space robot is a highlynonlinear and strongly-coupled dynamics system. Based on the assumption mode method, the Lagrange equation and the momentum conservation principle, the paper derived the dynamics model of a free-floating flexible dual-arm space robot that holds a rigid payload in a horizontal work-space. Moreover, it designed a second-time LQ optimum vibration suppression method to take active control of the elastic deformation and vibration of its flexible manipuhtors. A simulation was carried out and its results verified the effectiveness of the method.
出处
《机械科学与技术》
CSCD
北大核心
2007年第2期192-196,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
江苏省应用基础研究课题(BJ98057)
南京航空航天大学创新基金项目(CX200407)资助
关键词
柔性双臂空间机器人
自由浮动
动力学建模
抑振控制
flexible dual-arm space robot
free-floating
dynamics modeling
vibration suppression
