【作者】 徐梁； 胡庆雷； 程怡明；

【Author】 XU Liang,HU Qing-Lei,CHENG Yi-Ming Harbin Institute of Technology,Harbin 150001,P.R.China

【机构】 哈尔滨工业大学控制科学与工程系；

【摘要】 针对自由漂浮空间机器人的连杆关节角镇定问题,依据其欠驱动特性并结合系统的角动量守恒,提出了一类基于Lyapunov镇定控制器的设计方法,该方法在确保系统关节角在一定条件下具有全局渐近稳定性,且满足本体姿态稳定的要求.同时,所提出的控制方案具有通用性,对于欠驱动系统若满足角动量守恒,均可采用该控制器的设计方法进行镇定控制,具有潜在的应用价值.最后,对于给定的自由漂浮空间机器人系统参数,进行数值仿真研究,结果验证了所设计的控制方案的有效性,可行性.更多还原

【Abstract】 This paper deals with the stabilization problem of the free-floating space manipulator system.Using the underactuated property and the conservation of angular momentum,a stabilization controller based on passivity concept is designed for this system.Associated proof shows that global stability of the angles of the manipulator joints is guaranteed.Moreover,for any kind of underactuated mechanism system,if the conservations of angular momentum property are satisfied,this kind of control strategy can be implemented to stabilize the actuated degree of freedom,which shows practical merit of the approach.Finally, numerical simulation of a simplified free-floating space robot system is conducted to prove the feasibility and effectiveness of the proposed control strategy.更多还原