带滑移铰空间机械臂惯性轨迹跟踪的反馈控制

Feedback Control for Space Based Manipulator with Prismatic Joint to Track Desired Trajectory of Workspace

利用多体动力学方法对浮动基带滑移铰空间机械臂的运动学、动力学作了分析。首先，根据系统结构的几何关系并结合系统对总质心的动量矩守恒关系，导出了其末端抓手运动速度与关节铰速度之间的广义Ｊａｃｏｂｉａｎ关系；然后，利用系统动力学方程及运动的广义Ｊａｃｏｂｉａｎ关系，研究了载体位置、姿态不受控情况下，其末端抓手跟踪惯性空间期望轨迹的反馈控制规律。研究结果表明，在系统动力学参数及动力学模型精确确定，跟踪误差及需要的运动变量可测或可计算的情况下，本文的控制方案能够有效地控制空间机械臂完成惯性空间的指定运动，而不需对其载体的位置、姿态进行主动控制。仿真计算结果证实了方法的有效性。

The kinematics and dynamics of a space based manipulator with prismatic joint is studied by use of the method of multibody dynamics. First, combining system geometry and momentum conservation equation, the generalized Jacobian matrix for the space manipulator is derived; Then the scheme of feedback control for a space based manipulator that the position and attitude of its base is not controlled to track the desired trajectory of workspace is proposed. It is demonstrated that if its dynamic model and parameters are accurately known and the tracking errors etc are measurable or calculable, the proposed feedback control scheme can effectly control space manipulator to complete the desired motion of workspace, without controling the position and attitude of its base. It is demonstrated by the simulation that the proposed scheme is efficient.