中国机械工程Issue(4)：435-440,441,7.DOI:10.3969/j.issn.1004132X.2015.04.002
基于滑模的混联仿人空间机械臂轨迹跟踪控制
Hybrid Humanoid Space Mechanical Arm Trajectory Tracking Control Based on Sliding Mode
摘要
Abstract
To study the reaching motion of arm in high-speed target grasp tasks,a 4-DOF hybrid humanoid space mechanical arm was presented.The design of the shoulder joint with high bearing ca-pacity which was based on spherical parallel manipulator,light weight device drivers and layout form with low moment of inertia were stressed on.Considering the structure characteristics of hybrid mech-anism,the dynamics analyses were investigated using the principle of virtual work and Lie group and Lie algebra.This method can avoid the processing of constraint reaction and the division of logic open-chains and a lot of differential operations.The trajectory tracking task was completed by using the sliding mode control(SMC)which could cope with the high nonlinearity and couplings of the hybrid humanoid space mechanical arm.Simulation results show the effectiveness of the SMC.关键词
混联仿人机械臂/球面并联机构/动力学建模/李群李代数法/滑模控制Key words
hybrid humanoid mechanical arm/spherical parallel manipulator/dynamics modeling/Lie groups and Lie algebra/sliding mode control分类
信息技术与安全科学引用本文复制引用
秦利,刘福才,梁利环,金振林..基于滑模的混联仿人空间机械臂轨迹跟踪控制[J].中国机械工程,2015,(4):435-440,441,7.基金项目
国家高技术研究发展计划(863计划)资助项目 （863计划）
