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讨论了载体位置、姿态均不受控制的双臂空间机器人抓物系统的动力学建模和控制问题。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负载的非线性动力学模型,结合空间机器人固有的特性及闭合链约束关系,得到抓持系统合成动力学方程。以此为基础,考虑到空间机器人系统结构的复杂性及其某些参数的变动性,根据具有较强鲁棒性的变结构控制理论,设计了该抓持系统惯性空间轨迹跟踪的滑模变结构控制方案及相应的内力控制方案,从而达到位置、力的混合控制。系统数值仿真证明了上述控制方案的有效性。
The dynamic modeling and control of a two-arm space robot grasping system with uncontrolled position and attitude are discussed. Based on Lagrange method and Newton-Euler method, nonlinear dynamics model of dual-arm space robot and load is established. Combining the inherent characteristics of space robot and the restraining relationship of closed chain, the kinetic equation of composite system is obtained. Based on this, taking into account the complexity of the structure of the space robot system and the variability of some parameters, a sliding mode-change of inertial space trajectory tracking is designed according to the robust control theory of variable structure Structure control program and the corresponding internal force control program, so as to achieve the position, the force of hybrid control. The numerical simulation of the system proves the effectiveness of the above control scheme.