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讨论了载体的位置与姿态均不受控制的漂浮基带滑移铰空间机械臂的控制问题.动力学分析表明,结合系统动量及动量矩守恒关系得到的运动Jacobi关系及系统动力学方程将是系统惯性参数的非线性函数.借助于增广变量法,我们得到了与惯性参数呈线性关系的系统广义Jacobi矩阵及系统控制方程.以此为基础,针对系统中存在未知惯性参数的情况,设计了一种末端抓手惯性空间期望轨迹跟踪的复合自适应控制方案,此控制方案的优点在于不需要测量空间机械臂载体的位置及移动的速度、加速度.仿真运算证实了方法的有效性.
The control problem of the floating base-slipping reamer space manipulator whose position and attitude are not controlled is discussed.The dynamic analysis shows that the motion Jacobi relation and the system dynamics equation obtained by combining the conservation of system momentum and momentum moment will be the system With the aid of augmented variable method, we obtain the system generalized Jacobi matrix and the system governing equations which have a linear relationship with the inertial parameters.On the basis of this, aiming at the existence of unknown inertia parameters in the system, A composite adaptive control scheme of inertial space desired trajectory tracking of end gripper has the advantage of not needing to measure the position of the space manipulator and the speed and acceleration of the moving, and the simulation results show the effectiveness of the method.