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双臂空间机器人的关节空间改进鲁棒控制

李曦 陈志勇 陈力

李曦, 陈志勇, 陈力. 双臂空间机器人的关节空间改进鲁棒控制[J]. 机械科学与技术, 2016, 35(3): 414-419. doi: 10.13433/j.cnki.1003-8728.2016.0316
引用本文: 李曦, 陈志勇, 陈力. 双臂空间机器人的关节空间改进鲁棒控制[J]. 机械科学与技术, 2016, 35(3): 414-419. doi: 10.13433/j.cnki.1003-8728.2016.0316
Li Xi, Chen Zhiyong, Chen Li. Improving Robust Control of Dual-arm Space Robot's Joint Space[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(3): 414-419. doi: 10.13433/j.cnki.1003-8728.2016.0316
Citation: Li Xi, Chen Zhiyong, Chen Li. Improving Robust Control of Dual-arm Space Robot's Joint Space[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(3): 414-419. doi: 10.13433/j.cnki.1003-8728.2016.0316

双臂空间机器人的关节空间改进鲁棒控制

doi: 10.13433/j.cnki.1003-8728.2016.0316
基金项目: 

国家自然科学基金项目(11502052,11372073)、福建省中青年教师教育科研项目(JA14045)、福州大学科技发展基金项目(2013-XY-13)及福州大学人才基金项目(XRC-1232)资助

详细信息
    作者简介:

    李曦(1987-),硕士,研究方向为多体系统动力学、空间机器人动力学与控制,x-lotusx@163.com

    通讯作者:

    陈力,教授,博士,chnle@fzu.edu.cn

Improving Robust Control of Dual-arm Space Robot's Joint Space

  • 摘要: 利用拉格朗日法及系统动量守恒关系,建立了双臂空间机器人的动力学模型;通过引入参数自适应调节律对系统不确定性边界值进行在线预估,基于增广法提出一种区别于传统鲁棒控制的改进鲁棒控制方案。通过对参数自适应调节律的开启与闭合的仿真结果表明,所提改进鲁棒控制方案对驱动具有不确定性双臂空间机器人执行所指定的双臂关节运动具有良好的控制效果和抗扰动能力。
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出版历程
  • 收稿日期:  2014-05-22
  • 刊出日期:  2016-03-05

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