漂浮基双臂空间机器人关节轨迹跟踪的拟增广自适应控制.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 漂浮基双臂空间机器人关节轨迹跟踪 的拟增广自适应控制 1 2 郭益深 ，陈 力 1. 福州大学 机械工程及自动化学院，福州 350002 E-mail: gysguoyishen@ 2. 福州大学 机械工程及自动化学院，福州 350002 E-mail: chnle@ 摘 要: 讨论了载体位置与姿态均不受控制的自由浮动双臂空间机器人系统的拟增广自适应控制问题。首先，由 拉格朗日方法，推倒出自由浮动双臂空间机器人系统的动力学方程。同时借助于增广变量法，恰当地扩展系统 的控制输入与输出。以此为基础，针对末端抓手持有载荷参数未知情况下，设计了载体位置与姿态均不受控制 的双臂空间机器人系统关节运动的拟增广自适应控制方案。数值仿真运算结果证实了上述控制方案的有效性。 关键词: 双臂空间机器人，增广变量法，自适应控制 Augmented Adaptive Control for Free-Floating Dual-Arm Space Robot System in Joint Space 1 2 Guo Yishen , Chen Li 1. College of Mechanical Engineering, Fuzhou University, Fuzhou 350002 E-mail: gysguoyishen@ 2. College of Mechanical Engineering, Fuzhou University, Fuzhou 350002 E-mail: chnle@ Abstract: In this paper, the augmented adaptive control problem of free-floating dual-arm space robot system is studied. First, the dynamic equations of free-floating dual-arm space robot system are derived through the Lagranian formulation. With the augmentation approach, the control inputs and outputs are expanded. Based on the above results, an augmented adaptive control scheme for dual-arm space robot system with unknown payload parameters to track the desired trajectories in joint space is developed. A simulation study of a planar fr