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讨论了载体位置、姿态均不受控制情况下,漂浮基闭链双臂空间机器人抓持系统的动力学建模与控制问题。利用拉格朗日方法和牛顿-欧拉法分别建立了双臂空间机器人及抓持负载的动力学模型,并结合漂浮基空间机器人固有的动力学特性及闭合链约束几何关系,获得了抓持系统合成动力学方程。以此为基础,考虑到闭链双臂空间机器人系统结构的复杂性及某些参数的变动性,根据具有较强鲁棒性的变结构控制理论和Lyapunov稳定性理论,设计了系统参数不确定情况下该抓持系统基于滑模补偿的力/位置混合控制方案;从而达到对抓持负载位置与所受内力的双重控制效果。系统数值仿真,证明了上述控制方案的有效性与精确性。
The dynamic modeling and control of floating-base closed-chain dual-arm space robot grasping system are discussed under the condition that the position and attitude of the carrier are not controlled. Based on the Lagrange method and Newton-Euler method, the dynamics model of the dual-arm space robot and the gripper load are established respectively, and the inherent dynamic characteristics of the floating-space robot and the constraint geometry of the closed chain are obtained. System synthesis kinetic equation. Based on this, considering the complexity of the structure of closed-chain dual-arm space robot system and the variability of some parameters, according to the theory of variable structure control and Lyapunov stability with strong robustness, In this case, the gripper system is based on the force / position hybrid control scheme of sliding mode compensation, so as to achieve the dual control effect on the load position and internal force. The numerical simulation of the system proves the validity and accuracy of the above control scheme.