空间柔性双臂机器人系统建模、控制与仿真研究

Dynamics Modeling, Control and Simulation for Flexible Dual-Arm Space Robot

空间柔性多臂机器人系统是高度非线性,强耦合的动力学系统,其动力学的研究是比较复杂和困难的问题.本文针对极为复杂的空间柔性双臂机器人系统,建立了其系统动力学模型,利用逆动力学控制算法对该动力学模型实现了轨迹跟踪控制,仿真结果表明该方法具有较好的控制效果,分析了在仿真过程中出现的有关数值算法的问题.

As a highly nonlinear and coupled dynamic system, Flexible Multi-Arm Space Robot (FMASR) is very difficult to model and control. In this paper, the dynamics of one type of FMASR is derived, and the trajectory tracking can be performed via a stable inversion dynamic control approach. Furthermore, some numerical computation problems are investigated to avoid the stiff problem. Finally, some simulation results are given.