双臂空间机器人惯性空间轨迹的鲁棒跟踪控制研究.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 双臂空间机器人惯性空间轨迹的鲁棒跟踪控制 1 2 郭益深 ，陈 力 1. 福州大学 机械工程及自动化学院，福州 350002 E-mail: gysguoyishen@ 2. 福州大学 机械工程及自动化学院，福州 350002 E-mail: chnle@ 摘 要: 讨论了载体位置与姿态均不受控制的自由漂浮双臂空间机器人系统的鲁棒控制问题。首先，由拉格朗 日方法，推倒出自由漂浮双臂空间机器人系统的动力学方程。然后借助于增广变量法和系统Jacobi矩阵，恰 当地扩展系统的控制输入与输出。以此为基础，针对末端抓手持有载荷参数未知情况下，设计了载体位置与 姿态均不受控制的双臂空间机器人系统惯性空间轨迹的鲁棒跟踪控制方案。数值仿真运算结果证实了上述控 制方案的有效性。 关键词: 双臂空间机器人，增广变量法，鲁棒控制 Robust Control of Dual-Arm Space Robot System in Inertial Space 1 2 Guo Yishen , Chen Li 1. College of Mechanical Engineering, Fuzhou University, Fuzhou 350002 E-mail: gysguoyishen@ 2. College of Mechanical Engineering, Fuzhou University, Fuzhou 350002 E-mail: chnle@ Abstract: In this paper, the robust control scheme of free-floating dual-arm space robot system with two payloads is proposed. First, the dynamic equations of free-floating dual-arm space robot system are derived through the Lagranian formulation. With the augmentation approach and the Jacobi matrix of system, the control inputs and outputs are expanded. Based on the above results, a robust control scheme of dual-arm space robot system with unknown payload parameters to track the desired trajectories in inertial space is developed. A simulation study of planar free-floating dual-arm space robot system is presented. The simulation r