双臂空间机器人系统协调运动的自适应控制研究.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 双臂空间机器人系统协调运动的自适应控制 1 2 陈 力 ，郭益深 1. 福州大学 机械工程及自动化学院，福州 350002 E-mail: chnle@ 2. 福州大学 机械工程及自动化学院，福州 350002 E-mail: gysguoyishen@ 摘 要: 讨论了本体位置不受控制情况下，双臂空间机器人系统本体姿态与末端抓手持有载荷协调运动的控制问 题。首先，由拉格朗日方法，推倒出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，设计了本体 位置无控的双臂空间机器人系统本体姿态与末端抓手持有载荷协调运动的自适应控制方案。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，自适应控制 Adaptive Control of Coordinated Motion of Dual-Arm Space Robot System Chen Li 1, Guo Yishen 2 1. College of Mechanical Engineering, Fuzhou University, Fuzhou 350002 E-mail: chnle@ 2. College of Mechanical Engineering, Fuzhou University, Fuzhou 350002 E-mail: gysguoyishen@ Abstract: In this paper, the coordinated control of the base’s attitude of dual-arm space robot system and the payload hold by the end-effectors is discussed. First, the dynamic equations of 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, an adaptive control scheme for dual-arm space robot system with unknown payload parameters to track the desired trajectories is developed. A simulation study of planar dual-arm space robot system is presented. The simulation results show that the proposed control scheme is feasible and effective. Key words: Dual-arm space robo