空间科学学报2011，Vol.31Issue(2)：260-268,9.
漂浮基闭链双臂空间机器人抓持系统动力学及载荷力/位置混合控制的模糊变结构控制器设计
Design for Fuzzy Variable Structure Controller of Hybrid Position and Force Control for Dual-arm Coordinated Space Robot Systems
摘要
Abstract
A kind of nonlinear dynamics model of free-floating dual-arm space robot system is based on Lagrange method, and the dynamics model of object is presented based on Newton-Euler method.Based on the results and closed kinematic chain constraints, the dynamics model of synthetical system is obtained, and the control problems for object to track the desired trajectory in workspace and adjustment of interactive forces due to the interaction between the object and the end-effectors are discussed. Because of the high complexity of structure and the uncertainty of parameter of such systems, the scheme of variable structure global sliding-mode control with better robustness to uncertainty and disturbance is proposed to track the desired trajectory of object, and the corresponded scheme of internal forces control is proposed synchronously. Therefore, the object position and internal forces can be regulated simultaneously. A fuzzy controller is designed to reduce shiver due to the inherent defect of sliding-mode control and ensure rapid response. The fuzzy controller can tune the sliding-mode control law parameters automatically according to the relationship between the system state and switch surface. The effect of the controllers is testified by computer simulation.关键词
漂浮基/闭链双臂空间机器人/模糊变结构控制/力/位置混合控制Key words
Free-floating/ Dual-arm space robot with closed chain/ Fuzzy variable structure control/Hybrid force and position control分类
航空航天引用本文复制引用
陈志煌,陈力..漂浮基闭链双臂空间机器人抓持系统动力学及载荷力/位置混合控制的模糊变结构控制器设计[J].空间科学学报,2011,31(2):260-268,9.基金项目
国家自然科学基金项目(10672040,11072061)和福建省自然科学基金项目(2010J01003)共同资助 （10672040,11072061）
