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自由浮动冗余度空间机器人的姿态稳定控制 被引量：1

Attitude Stabilization Control of a Redundant Free-floating Space Robot
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摘要 研究了自由浮动冗余度空间机器人的姿态稳定控制问题。针对自由浮动空间机器人姿态稳定控制的主要特点,通过分析自由浮动冗余度空间机械臂惯性矩阵的伪逆和零空间特性,结合空间机器人的运动学方程推导出了基于本体姿态稳定的广义雅可比矩阵。采用基于该矩阵的分解运动速度控制方法,保证机械臂末端执行器在跟踪期望轨迹的同时不对本体姿态产生干扰。最后,对平面三自由度空间机器人进行了仿真实验,实验结果表明了该方法的有效性。 Considering the main characteristic of the attitude stabilization control for a free-floating space robot, we first analyzed the pseudoinverse and null-space components of the inertia matrix of a free-floating redundant space manipulator. Then, we derived the generalized Jacobian matrix for the attitude stabilization by integrating the kine- matical equations of the space robot. Using the resolved motion rate control method, a general manipulation task is carried out aiming at end-effector continuous path tracking with simultaneous base attitude maintenance. Simulation results with a planar 3-DOF space robot demonstrate the validitv and effectiveness of our method.
作者 朱雷 王从庆
机构地区 南京航空航天大学自动化学院
出处 《机械科学与技术》 CSCD 北大核心 2008年第5期575-578,共4页 Mechanical Science and Technology for Aerospace Engineering
基金 江苏省应用基础研究课题项目(BJ98057) 南京航空航天大学创新基金项目(CX200407)资助
关键词 自由浮动冗余度 空间机器人 广义雅可比矩阵 姿态稳定控制 redundant free-floating space robot generalized Jacobian matrix attitude stabilization control
分类号 TP241 [自动化与计算机技术—检测技术与自动化装置] TP273 [自动化与计算机技术—检测技术与自动化装置]
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参考文献8

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共引文献1

同被引文献13

  • 1Kazuya Yoshida, Dimitar Dimitrov, Hiroki Nakan- ishi. On the capture of tumbling satellite by a space robot[C]//Proceedings of the 2006 IEEE/RSJ Inter- national Conference on Intelligent Robots and Sys- tems. Beijing, China: [s. n. ],2006,4127-4132.
  • 2Tomohisa Oki, Hiroki Nakanishi, Kazuya Yoshida.Whole-body motion control for capturing a tum- bling, target by a free-floating space robot[C]//Pro- ceedings of the 2007 IEEE/RSJ International Confer- ence on Intelligent Robots and Systems. San Diego, USA: [s. n. ], 2007:2256-2261.
  • 3Ioannis Rekleitis, Eric Martin. Autonomous capture of a tumbling satellite [J]. Journal of Field, Robotics, Special Issue on Space Robotics, 2007,24 (4):275-296.
  • 4Dimitrios Tzeranis, Yoshiyuki Ishijima, Steven Dubowsky. Manipulator of large flexible structural modules by space robots mounted on flexible struc- tures[C]//The 8th International Symposium on Ar- tificial Intelligence, Robotics and Automation in space Munich. Germany : [s. n. ],2005 : 670-675.
  • 5Ebrahimi A, Moosavian S A A. Dynamics of space free-flying robots with flexible pendages[J]. Journal of Aerospace Science and Technology, 2008, 4 (4) : 29-36.
  • 6Itsuhiro Yamano, Jin soo Kim. Cooperative control of 3D dual-flexible-arm robot[J]. Journal of Intelli- gent and Robotics systems, 2004,39 (1) : 1-15.
  • 7Sanz A, Etxebarria V. Experimental control of a two-DOF flexible robot manipulator by optimal and sliding methods[J]. Intelligent Robot System, 2006(46):95-100.
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  • 10Siciliano B, Book W J. A singular perturbation ap- proach to control of lightweight flexible manipula- torsi[J]. The International Journal of Robotics Re- search, 1988,7(4) :79-90.

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机械科学与技术
2008年 第5期

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