自由漂浮双臂空间机器人基于速度滤波器的惯性空间轨迹跟踪鲁棒控制

自由漂浮双臂空间机器人基于速度滤波器的惯性空间轨迹

跟踪鲁棒控制

林成金;陈力

【期刊名称】《空间科学学报》 【年(卷),期】2012(032)005

【摘要】Abstract The robust system with uncertain control scheme based on velocity filter of free-floating dual-arm space robot payload parameters was studied. Through the Lagrangian approach, the dynamic equation of the free-floating space robot was modeled as under-actuated system. With the augmentation approach, it was demonstrated that the dynamic equations and the augmented generalized Jacobi matrix of the system can be linearly dependent on a group of inertial parameters, respectively. Based on the results, a robust controller based on velocity filter was developed for dualarm space robot system with uncertain payload parameters to track the desired trajectories in inertial space. Ascribe to the pseudo-velocity signal acquired through the velocity filter, the proposed control scheme with only accurate positions of the joints and the end-effectors feedback avoid measuring thevelocity and acceleration of the end-effectors. And it can avoid the control chatter effectively at the same time. The effect of the controller is testified by computer simulation.%针对末端所持载荷参数未知的自由漂浮双臂空间机器人系统，提出了基于速度滤波器的鲁棒控制