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针对V构型控制力矩陀螺(CMGs)驱动的冗余空间机器人的CMGs角动量饱和问题,提出一种角动量平衡控制方法。该方法从平衡使用机械臂各臂杆CMGs角动量的思想出发,定义了角动量平衡指标,并使用加速度分解技术和逆动力学方法设计了角动量平衡控制器。该控制器可在保证机械臂跟踪工作空间轨迹的同时,利用机械臂的空转运动使得角动量平衡指标尽量减小,即各臂CMGs的角动量使用趋于平均,从而降低某些臂杆的CMGs先行饱和的可能性,充分利用CMGs的控制能力。基于平面三自由度冗余机械臂的数值仿真结果验证了所设计的控制器的有效性。
Aiming at the CMGs angular momentum saturation problems of redundant space robots driven by CMGs, an angular momentum balance control method is proposed. The method is based on the idea of balancing the angular momentum of each arm CMGs by using the principle of angular momentum balance. The angular momentum balance controller is designed by using acceleration decomposition and inverse dynamics. The controller can make use of the free-wheeling motion of the manipulator to minimize the angular momentum balance while keeping the trajectory of the manipulator tracking the working space. That is to say, the angular momentum of CMGs of each arm is averaged and the CMGs of some arms are reduced The possibility of saturation first, take full advantage of CMGs control. Numerical simulations based on a three-degree-of-freedom planar manipulator verify the effectiveness of the proposed controller.