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

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

李曦¹,
陈志勇²,
陈力^2, ,

1.
宁夏宝塔化工装备制造有限公司, 银川 751600;
2.
福州大学机械工程及自动化学院, 福州 350116

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

计量
- 文章访问数: 177
- HTML全文浏览量: 28
- PDF下载量: 7
- 被引次数: 0
出版历程
- 收稿日期: 2014-05-22
- 刊出日期: 2016-03-05

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

Li Xi¹,
Chen Zhiyong²,
Chen Li^{2
, ,}

1.
Ningxia Baota Chemical Equipment Manufacturing Co., Ltd., Yinchuan 751600, China;
2.
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China

摘要

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。
- 双臂空间机器人 /
- 外部扰动 /
- 增广法 /
- 关节空间 /
- 改进鲁棒控制
Abstract: The dynamic equations model of the dual-arm space robot are derived with the Lagrange method and the linear momentum conservation relations; through the adaptive adjustment of parameters to estimate the boundary of uncertainties online, we propose an improved robust control scheme based on the augmentation approach, which is different from the traditional robust control scheme. Through opening and closing the adaptive adjustments of parameters, the simulation results show that the improved robust control scheme we proposed has good control effect on and anti-disturbance capacity of enabling the dual-arm space robot with uncertainties to perform the specified joint motions of the dual-arm space robot.
- augmentation approach /
- dual-arm space robot /
- external disturbance /
- improved robust control /
- joint space

HTML全文

参考文献(16)

[1]	Rutkovskii V Y, Sukhanov V M, Glumov V M. Some issues of controlling the free-flying manipulative space robot[J]. Automation and Remote Control, 2013,74(11):1820-1837
[2]	Kumar N, Panwar V, Borm J H, et al. Adaptive neural controller for space robot system with an attitude controlled base[J]. Neural Computing and Applications, 2013,23(7-8):2333-2340
[3]	Evans L. Canadian space robotics on the international space station[C]//2005 CCToMM Symposium on Mechanisms Machines and Mechatronics. Canada: Canadian Space Agency, 2005:26-27
[4]	Gu Y L, Xu Y S. A normal form augmentation approach to adaptive control of space robot systems[J]. Dynamics and Control, 1995,5(3):275-294
[5]	丁希仑,战强,解玉文.自由漂浮的空间机器人系统的动力学奇异特性分析及其运动规划[J].航空学报,2001,22(5):474-477 Ding X L, Zhan Q, Xie Y W. Dynamic singularity analysis and motion planning of free-floating space robot systems[J]. Acta Aeronautica et Astronautica Sinica, 2001,22(5):474-477 (in Chinese)
[6]	戈新生,张奇志,刘延柱.基于遗传算法的空间机械臂运动规划的最优控制[J].空间科学学报,2000,20(2):185-191 Ge X S, Zhang Q Z, Liu Y Z. An optimized method to control the motion planning of space manipulaors base genetic algorithm[J]. Chinese Journal of Space Science, 2000,20(2):185-191 (in Chinese)
[7]	Nakamura Y, Mukherjee R. Nonholonomic path planning of space robots via a bidirectional approach[J]. IEEE Transactions on Robotics and Automation, 1991,7(4):500-514
[8]	陈力.空间机器人关节轨迹运动的一种鲁棒变结构控制方法[J].福州大学学报(自然科学版),2001,29(2):46-50 Chen L. Robust variable structure control of joints motion of space-based robot system[J]. Journal of Fuzhou University (Natural Sciences Edtion), 2001,29(2):46-50 (in Chinese)
[9]	陈力.自由浮动空间机器人系统联体坐标系内轨迹的自适应跟踪控制[J].机械科学与技术,2003,22(1):32-34,38 Chen L. Adaptive control of spacecraft-referenced end-point motion of space-based robot system[J]. Mechanical Science and Technology, 2003,22(1):32-34,38 (in Chinese)
[10]	唐晓腾,陈力.参数不确定双臂空间机器人姿态、关节协调运动的变结构鲁棒控制方法[J].机械科学与技术,2008,27(6) :822-826. Tang X T, Chen L. Robust variable structure control for the harmonic motion of a space robot system with dual-arms[J]. Mechanical Science and Technology, 2008,27(6):822-826 (in Chinese)
[11]	Al-Ashoor R A. Robust adaptive cartesian control of robot manipulators using bounded uncertainties approach[J]. International Journal of Robotics and Automation, 1995,10(1):1-10
[12]	Feng G, Palaniswami M. Adaptive control of robot manipulators in task space[J]. IEEE Transactions on Automatic Control, 1993,38(1):100-104
[13]	陈志勇,陈力.具有外部扰动及不确定载荷参数双臂空间机器人的拟增广鲁棒与自适应混合控制[J].工程力学,2010,27(12):27-33 Chen Z Y, Chen L. Robust-adaptive combined control for dual-arm space robot with external disturbances and uncertain parameters[J]. Engineering Mechanics, 2010,27(12):27-33 (in Chinese)
[14]	Slotine J J E, Li W P. On the adaptive control of robot manipulators[J]. The International Journal of the Robotics Research, 1987,6(3):49-59
[15]	Shin J H, Park K B, Kim S W, et al. Robust adaptive control for robot manipulators using regressor-based form[C]//Proceedings of 1994 IEEE International Conference on Systems, Man and Cybernetics. San Antonio: IEEE, 1994:2063-2068
[16]	Spong M W. On the robust control of robot manipulators[J]. IEEE Transactions on Automatic Control, 1992,37(11):1782-1786