中国机械工程2011，Vol.22Issue(18)：2151-2155,5.
漂浮基带柔性铰空间机器人的动力学建模及奇异摄动控制研究
Study on Dynamics Modeling and Singular Perturbation Control of Free--floating Space Robot with Flexible Joints
摘要
Abstract
The dynamic modeling and singular perturbation control problems of free--floating space robot with normal flexible joints and an uncontrolled base were discussed. With the relationship of the system linear and angular momentum conservation,a system dynamics model was established by Lagrangian formulation. To eliminate the limitation of joint flexibility for applications of the tradi- tional singular perturbation control technique in space robot with normal flexible joints, a joint flexi- bility compensator was introduced, which can level down the equivalent joint flexibility of the system. And then with the help of singular perturbation theory,the singular perturbation control schemes for free--floating space robot with flexible joints to track the desired trajectory in joint space and inertial space were designed successively. The control schemes presented are more suitable for the control of space robot systems with normal flexible joints, because of no joint flexibility limitation. Theoretical analysis and simulation results verify the feasibility of the proposed control schemes.关键词
空间机器人/柔性铰/动力学建模/柔性补偿器/奇异摄动Key words
space robot/flexible joint/dynamics modeling/flexibility compensator/singular pertur- bation分类
信息技术与安全科学引用本文复制引用
陈志勇,陈力..漂浮基带柔性铰空间机器人的动力学建模及奇异摄动控制研究[J].中国机械工程,2011,22(18):2151-2155,5.基金项目
基金项目：国家自然科学基金资助项目（11072061,10672040) （）
福建省自然科学基金资助项目（2010J01003) （）
