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讨论了载体位置无控、姿态受控情况下,具有外部扰动的漂浮基双臂空间机器人载体姿态与末端爪手协调运动的控制问题。结合系统动量守恒关系及拉格朗日方法,建立了漂浮基双臂空间机器人全控形式的系统动力学方程,并将其转化为系统状态方程。以此为基础,根据Terminal滑模控制技术,给出了系统相关Terminal滑模面的数学表达式,并提出了具有外部扰动情况下漂浮基双臂空间机器人载体姿态与末端爪手协调运动的Terminal滑模控制方案。提出的控制方案不但确保了闭环系统滑模阶段的存在性,同时通过Terminal滑模函数的适当选取,还保证了输出误差在有限时间内的收敛性。此外,由于确保了无论何种情况下系统初始状态均在Terminal滑模面上,从而消除了其它滑模控制方法常有的到达阶段,使得闭环系统具有全局鲁棒和稳定性。一个平面漂浮基双臂空间机器人的系统数值仿真,证实了此控制方案的有效性。
The control problem of the floating base double-arm space robot with external disturbance and the coordinating motion of the terminal claw hand are discussed under the condition of uncontrolled position and controlled attitude. Combined with the system of conservation of momentum and the Lagrange method, a system dynamics equation of full-controlled floating-arm dual-arm space robot is established and transformed into a system state equation. Based on this, according to the Terminal sliding mode control technology, the mathematic expressions of the terminal sliding mode surface of the system are given, and the Terminal of the floating base dual arm space robot with coordinated movement of the terminal claw and the hand with the external disturbance is proposed Sliding mode control scheme. The proposed control scheme not only ensures the existence of the sliding mode phase of the closed-loop system, but also ensures the convergence of the output error within a finite time through the proper selection of Terminal sliding mode function. In addition, the closed-loop system is globally robust and robust because it ensures that the initial state of the system is on the terminal sliding surface in any case, thus eliminating the usual arrival phases of other sliding mode control methods. The numerical simulation of a planar floating-base dual-arm space robot verifies the effectiveness of this control scheme.