空间机器人的计算力矩实时控制方法

Real-Time Control of Space Robot Based on Computed Torque Control Law

采用李群李代数符号描述了漂浮基座空间机器人的动力学分析和计算力矩控制问题。首先讨论了李群李代数符号的伴随变换和伴随算子;针对空间机器人系统,考虑将空间系统转换为固定基座系统进行研究;然后用李群李代数描述了机器人的反向动力学和正向动力学;最后利用动力学结果,用计算力矩控制方法对一机器人系统进行了仿真研究,对比不同重力情况下机器人浮动基座的加速度。仿真结果表明,该动力学方法能够快速、高效地解决空间机器人的动力学仿真问题,为基于动力学的实时控制打下了基础,同时计算力矩方法具有较好的性能特征。

Lie groups and Lie algebra are used to study the dynamics and computed torque control law of a free flying space robot system.Adjoint transformation and adjoint operators of Lie groups and Lie algebra are discussed.Free flying base systems are then transformed to fixed base systems.Inverse and forward dynamics are described with Lie groups and Lie algebra.The computed torque control law is used to simulate the dynamics.The results show that dynamic simulation problems of space robot can be solved using the method quickly and efficiently.This forms a foundation of realtime control based on dynamics.Performance of the computed torque control law is good.