摘要
讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的控制输入与输出 ,克服了漂浮基空间机器人系统控制方程关于惯性参数呈非线性函数关系的难点 ,保持了控制方程关于惯性参数的线性函数关系。以此为基础 ,针对末端抓手所持载荷参数是未知及不确定的两种情况 ,分别设计了载体姿态及末端抓手惯性空间轨迹协调运动的自适应控制方案与鲁棒控制方案。
The coordinated control of the base attitude and arms of space-based robot system is studied. With the ideas of augmentation approach, the difficulties of nonlinear parameterization of the system dynamic equations were overcome. Based on the results proposed above, the adaptive and robust control schemes of coordinated motion for both the base and manipulator to track the desired trajectory are developed. A two-link planar space-based robot system is simulated to verify the proposed control schemes.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2001年第8期18-22,28,共6页
Journal of Mechanical Engineering
基金
国家自然科学基金 ( 19872 0 32 )
福州大学校内科研基金资助项目
