论文部分内容阅读
针对小型空间机器人抓捕大型空间非合作目标时被抓捕目标初始动量未知且不为0、实时辨识过程中基座姿态受扰动较大的问题,采用自适应反作用零空间控制方法保证在轨实时参数辨识阶段基座姿态受到的扰动最小,建立含有目标动力学参数的动量增量方程,根据在轨实时测量的基座线速度、角速度和机械臂关节角度、角速度求解目标的未知动力学参数.数值仿真结果表明,该方法在辨识过程中可实现空间机器人基座姿态较小的扰动,而且在初始动量未知且不为0的情况下能够实时高精度辨识出大型非合作目标的动力学参数.
Aiming at the problem that the initial momentum of the target to be captured when a small space robot catches a large space non-cooperative target is unknown and not 0, and the pedestal’s attitude is disturbed greatly in the real-time identification process, an adaptive reaction null space control method is adopted to ensure the real-time In the phase of parameter identification, the pedestal attitude is minimally perturbed. The momentum increment equation with the target dynamic parameters is established. The unknown kinetic parameters of the target are solved according to the linear velocity of the base, the angular velocity, the joint angle of the manipulator and the angular velocity measured in real time. The numerical simulation results show that this method can achieve a small disturbance of the attitude of the space robot base in the identification process, and can accurately identify the dynamics parameters of large non-cooperative targets in real time with the initial momentum unknown and not zero.