中国机械工程2011，Vol.22Issue(13)：1591-1596,6.
漂浮基双臂空间机器人系统协调运动的模糊小波神经网络控制
Fuzzy Wavelet Neural Network Control for Coordinated Motion of a Free-floating Dual-arm Space Robot
摘要
Abstract
The dynamic control problem for coordinated motion of a free-floating dual-arm space robot system was discussed.According to the momentum conservation law,the dynamic equations of dual-arm space robot system were established through Lagrange equation of the second kind.Based on the above results,a fuzzy wavelet based neural network scheme was designed for dual-arm space robot system with unknown system parameters.The scheme achieves the coordinated motion of the base attitude and the joint angle in joint space.The control scheme needs neither to parameterize the dynamic equations of the system linearly,nor knows any system parameters.Further more,its network parameters are updating on-line by back propagation algorithm so that fuzzy neural network has strong ability of self-learning and self-adapting.Thus time-consuming off-line training process is not required.Simulation results of a planar dual-arm space robot system confirms that the proposed control scheme is effective and feasible.关键词
漂浮基双臂空间机器人系统/模糊小波神经网络/关节空间/协调运动Key words
free-floating dual-arm space robot system/fuzzy wavelet neural network/joint space/coordinated motion分类
信息技术与安全科学引用本文复制引用
黄登峰,陈力..漂浮基双臂空间机器人系统协调运动的模糊小波神经网络控制[J].中国机械工程,2011,22(13):1591-1596,6.基金项目
国家自然科学基金资助项目（10672040) （）
福建省自然科学基金资助项目（2010J01003) （）
