带滑移铰空间机械壁的分解运动自适应控制

The Adaptive Control Schemes of Resolved Motion of Space-Based Manipulator with Prismatic Joint

讨论了载体位置与姿态均不受控制的漂浮基带滑移铰空间机械臂的逆运动学问题，推导了系统的运动学、动力学方程。分析表明，结合系统动量及动量矩守恒关系得到的系统广义Jacobi关系为系统惯性参数的非线性函数。证明了借助于增广变量法可以将增广广义Jacobi矩阵表示为一组适当选择的惯性参数的线性函数。在此基础上，给出了系统参数未知时由空间机械臂末端惯性空间期望轨迹产生机械臂关节铰期望角速度、角加速度的增广自适应控制算法。仿真运算，证实了方法的有效性。

In this paper, the inverse kinematics of a free-floating space manipulator system with prismatic joint is studied, and it is shown that the Jacobian matrix is n onlinearly dependent on inertial parameters. With the augmentation approach, it is demonstrated that the augmented generalized Jacobian matrix can be linearly d ependent on a group of inertial parameters. When the inertial parameters are unk nown, two adaptive control schemes are proposed based on the results for a free- floating space manipulator system to track the desired trajectory in workspace. A two-link planar space manipulator system is simulated to verify both of the p roposed control schemes.