The dynamic modeling and singular perturbation control problems of free-floating space robot with normal flexible joints and an uncontrolled base were discussed.With the relationship of the system linear and angular momentum conservation,a system dynamics model was established by Lagrangian formulation.To eliminate the limitation of joint flexibility for applications of the traditional singular perturbation control technique in space robot with normal flexible joints,a joint flexibility compensator was introduced,which can level down the equivalent joint flexibility of the system.And then with the help of singular perturbation theory,the singular perturbation control schemes for free-floating space robot with flexible joints to track the desired trajectory in joint space and inertial space were designed successively.The control schemes presented are more suitable for the control of space robot systems with normal flexible joints, because of no joint flexibility limitation.Theoretical analysis and simulation results verify the feasibility of the proposed control schemes.

探讨了本体位置与姿态均不受控制情况下，漂浮基带一般柔性铰空间机器人的动力学建模与奇异摄动控制问题。结合系统线动量及角动量守恒关系，通过拉格朗日法建立了系统的动力学模型。为解除传统奇异摄动控制技术应用受关节柔性的限制，引入了一种关节柔性补偿器，以等效降低系统各关节铰的柔性。之后借助于奇异摄动理论，先后设计了漂浮基带柔性铰空间机器人关节空间、惯性空间期望运动轨迹跟踪的奇异摄动控制方案。该控制方案无关节柔性的限制，因此较适用于具有一般柔性铰空间机器人系统的控制。理论分析及仿真试验结果均表明控制方法可行。

 

空间机器人, 柔性铰, 动力学建模, 柔性补偿器, 奇异摄动

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