具有未知参数漂浮基双臂空间机器人惯性空间复合自适应控制

中国机械工程 ›› 2010, Vol. 21 ›› Issue (1): 12-16.

具有未知参数漂浮基双臂空间机器人惯性空间复合自适应控制

洪昭斌;陈力

福州大学，福州，350108

出版日期:2010-01-10 发布日期:2010-01-22
基金资助:
国家自然科学基金资助项目(10672040，10372022)；福建省自然科学基金资助项目(E0410008)
National Natural Science Foundation of China（No. 10672040，10372022）;
Fujian Provincial Natural Science Foundation of China（No. E0410008）

Composite Adaptive Control in Work Space of Free-floating Dual-arm Spatial Robot System with Unknown Parameters 

Hong Zhaobin;Chen Li

Fuzhou University, Fuzhou, 350108

Online:2010-01-10 Published:2010-01-22
Supported by:

National Natural Science Foundation of China（No. 10672040，10372022）;
Fujian Provincial Natural Science Foundation of China（No. E0410008）

摘要/Abstract

摘要：

讨论了载体位置与姿态均不受控制情况下具有未知参数的漂浮基双臂空间机器人系统惯性空间的复合自适应控制问题。为了克服空间机器人系统控制方程关于惯性参数的非线性性质，空间机器人被表示为欠驱动形式的机器人系统，其优点在于保持了系统动力学方程关于惯性参数的线性性质。对系统的运动学分析表明，联系两个机械臂末端运动速度与机器人关节角速度的增广广义Jacobi关系亦可以表示为一组惯性参数的线性函数。以此为基础，针对系统参数不确定的情况，设计了空间机器人系统跟踪惯性空间期望运动轨迹的复合自适应控制方案。系统的数值仿真证实了控制方法的有效性。

关键词:

漂浮基双臂空间机器人, 增广变量法, 复合自适应控制, 未知参数

Abstract:

A composite adaptive control of free-floating dual-arm sptial robot system with an uncontrolled base was proposed. In order to deal with the problem that the dynamics equations have a nonlinear relationship with the initial parameters, the spatial robot can be modeled as an under-actuated system. And it is shown that the dynamics equations of the system can be linearly parameterized. With the augmentation approach, we demonstrate that the augmented generalized Jacobi matrix can also be linearly parameterized. Based on the results, the composite adaptive control scheme was designed to track the desired trajectory in workspace for dual-arm spatial robot with unknown parameters. The experimental results validate the proposed method.

Key words: free-floating dual-arm spatial robot, augmentation approach, composite adaptive control, unknown parameter

中图分类号:

TP241

洪昭斌, 陈力.

具有未知参数漂浮基双臂空间机器人惯性空间复合自适应控制

[J]. 中国机械工程, 2010, 21(1): 12-16.

HONG Zhao-Bin, CHEN Li.

Composite Adaptive Control in Work Space of Free-floating Dual-arm Spatial Robot System with Unknown Parameters 

[J]. China Mechanical Engineering, 2010, 21(1): 12-16.

参考文献

[1]Gibbs G, Sachdev S. Canada and the International Space Station Program.. Overview and Status[J]. Acta Astronautica, 2002,51 (1/9): 591-600.
[2]Vafa Z, Dubowsky S. The Kinematics and Dynamics of Space Manipulators: The Virtual Manipulator Approach[J]. International Journal of Robotics Research, 1990, 9(4): 3-21.
[3]Nakamura Y, Mukherjee R. Exploitng Nonholonomic Redundancy of Free--flying Space Robots [J]. IEEE Transactions on Robotics and Automation, 1993, 9(4): 499-506.
[4]Chen Li, Guo Yishen. Adaptive Control of Dualarm Space Robot System in Joint Space[C]//The 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006). Beijing, 2006: 5096-5099.
[5]洪昭斌[1],陈力[1].双臂空间机器人关节运动的一种增广自适应控制方法[J].空间科学学报,2007,27(4):347-352.
[6]李俊峰,王照林.带空间机械臂的充液航天器姿态动力学研究[J].宇航学报,1999,20(2):81-86.
[7]Walker M W. Adaptive Control of Space--based Robot Manipulators[J]. IEEE Transactions on Robotics and Automation, 1992, 7(6): 828-835.
[8]马保离,霍伟.空间机器人系统的自适应控制[J].控制理论与应用,1996,13(2):191-197.
[9]Gu Y L, Xu Y S. A Normal Form Augmentation Approach to Adaptive Control of Space Robot Systems[J]. Journal of the Dynamics and Control, 1995, 5: 275-294.
[10]陈力.空间机械臂姿态及关节运动的自适应与鲁棒控制[J].中国机械工程,2001,12(5):582-585.
[11]郭益深[1],陈力[1].双臂空间机器人姿态与关节协调运动的自适应控制、鲁棒控制[J].中国机械工程,2008,19(6):636-639.
[12]Slotin J E, Li W P. On the Adaptive Control of Robot Manipulators [J]. Journal of the Robotics Research, 1987, 6(3): 49-59.
[13]Umetani Y, Yoshida K. Resolved Motion Rate Control of Space Manipulators with Generalized Jocabian Matrix[J]. IEEE Trans. Robot. Autom. , 1989, 5(3): 303-314.