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讨论漂浮基闭链空间机械臂抓持系统目标载荷的位置、力混合协调控制问题。结合系统动量、动量矩守恒关系及闭合运动链几何约束关系,利用多刚体动力学建模方法建立了漂浮基闭链双臂空间机器人抓持系统的合成动力学方程。针对参数不确定和外部干扰的情况,提出一种基于反演神经网络的位置、力自适应协调控制方案,从而达到对抓持负载位置与所受内力的双重控制效果。此控制方案无需要求系统动力学方程关于惯性参数呈线性函数关系;同时,它可保证系统渐近稳定性。数值仿真结果证实了该控制方案可有效地消除参数不确定对系统的影响。
The floating-base closed-chain space manipulator grasping system is proposed to control the position and force of the target load by force and hybrid control. Combined with the system momentum, the conservation of momentum and the geometric constraints of the closed kinematic chain, the synthetic dynamics equations of the floating-base closed-chain dual-arm space robot grasping system are established by using the multi-body dynamics modeling method. Aiming at the uncertain parameter and external disturbance, an adaptive control scheme of position and force based on inverse neural network is proposed to achieve the dual control effect on the load position and the internal force. This control scheme does not require that the system dynamics equation have a linear function relationship with respect to inertial parameters; at the same time, it can guarantee the asymptotic stability of the system. Numerical simulation results show that this control scheme can effectively eliminate the impact of uncertain parameters on the system.