带滑移铰空间机械臂协调运动的复合自适应控制

The Composite Adaptive Control of Coordinated Motion of Space-based Manipulator with Prismatic Joint

讨论了载体位置不受控制的带滑移铰空间机械臂载体姿态与末端抓手协调运动的控制问题。结合系统动量守恒关系进行的系统运动学、动力学分析表明 ,系统协调运动的广义Jacobi矩阵及系统动力学方程可以表示为一组惯性参数的线性函数。以此为基础 ,对于系统中存在未知惯性参数的情况 ,设计了载体姿态与末端抓手惯性空间期望轨迹协调运动的自适应控制方案。仿真运算证实了方法的有效性。

The coordinated control of base attitude and arms of space manipulator system with prismatic joint is studied. With the momentum conservation of system, the kinematics and dynamics of system are analyzed. It is shown that the generalized Jacobian matrix and dynamic equations of the system can be linearly dependent on a group of inertial parameters. Based on the results proposed above, the composite adaptive control scheme of coordinated motion for both the base and manipulator to track the desired trajectory is developed. The advantages of the control scheme proposed above are that it needs no measuring or controlling the position, velocity and acceleration of the base. A two-link planar space manipulator system is simulated to verify the proposed control scheme.