自由漂浮双臂空间机器人关节空间轨迹跟踪的变结构滑-福州大学学报.pdf

35 3 ( ) V o.l 35 No. 3 2007 6 Journa l of F uzhou U n iversity( N a tura l Sc ience) Jun. 2007 1000 - 224 3( 2007) 03- 04 36- 04 , (, 350002) , . , . , , . , . , . ; ; ; TP 241 A Va riable structure sliding- m ode con trol fo r a free- f loating dual- arm spa ce robot to track desired trajectory in join t spa ce CH EN Zh i- huang, CHEN L i ( Co lleg e o f M ech anical Eng inee ring and Au tom ation, Fuzhou U n iversity, Fuzhou, Fu jian 350002, Ch ina) Abs tract: The k inem atics and dynam ics o f free- float ing dua l- arm sp ace robo t system s are ana lyzed. By u se the m ethod o fm u ltibody dynam ics, the dynam ics equat ion s of du al- arm sp ace robo t are estab lished. B ased on the results, the contro l prob lem for dua l- arm sp ace robo t to track the desired trajectory in jo int sp ace is d iscu ssed. Becau se of the high stru cture com plex ity and the p aram eter un certa inty of dua l- arm space robot system s, the schem e of variab le stru cture slid ing - m ode contro l w ith better robu stness to uncertainty and disturbance is proposed. The advantages o f the contro l schem e proposed are that it neednt to control the position and att itude o f the b ase. T o show the feasi bility o f