考虑铰间间隙和重力影响的空间机械臂轨迹跟踪控制-控制理论与应用.pdf

32 5 Vol. 32 No. 5 2015 5 Control Theory Applications May 2015 DOI: 10.7641/CTA.2015.40403 , , , (1. , 066004; 2. , 066004) : , , . , Kelvin-Voigt , . , , . , , , . : ; ; ; ; – : TP273 : A Trajectory tracking control of space manipulator considering joint clearance and gravity LIU Fu-cai , HOU Tian-tian , QIN Li , FENG Wei-bo (1. Key Lab of Industrial Computer Control of Hebei Province, Yanshan University, Qinhuangdao Hebei 066004, China; 2. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao Hebei 066004, China) Abstract: Taking the on-orbit servicing high precision manipulation task as background, we investigate the coupling effect of joint clearance and gravity on the accuracy of trajectory tracking for space manipulator, and design the clearance compensation controller. By analyzing the motion characteristics about mechanism with joint clearance under different gravity environments, we build approximate clearance equivalent models for ground alignment as well as for space applica- tions, on the basis of Kelvin-Voigt linear spring damping assumption. Taking a two degree-of-freedom (DOF) manipulator as an example, we use Newton–Euler method to derive the dynamic model of space manipulator with joint clearance in the gravity and gravity release conditions, and isolate the clearance compensation. Through the simulation studies of trajectory tracking control, the differences between the dynamic behaviors of space manipulator in different gravity environment