自由飞行空间机器人系统的协调运动控制
Coordinated Motion Control of Freeflying Space Robot System
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摘要: 考虑由载体和机械臂组成的空间机器人系统的协调控制问题,提出了一种新的协调 控制策略.该策略首先利用简单的变结构控制器粗略控制载体的运动,进而设计机械臂控制 器以保证手端精确跟踪其期望的运动轨迹.应用该策略分别对手端自由运动和受限运动设计 了相应的控制器,并对两杆平面空间机器人系统进行了仿真,证实了控制策略的有效性.Abstract: The coordinated motion control of manipulator/spacecraft system is investigated in this paper. A new coordinated control scheme is proposed, in which the motion of the spacecraft is controlled using a simple variable structure control scheme and the manipulator is controlled to track the desired end-effector trajectory. The proposed scheme is applied to the controller design of free-motion and constrained motion of the manipulatorts end-effector. A two- link planar space robot system is simulated to verify the effectiveness of the control scheme.
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