信息与控制2016，Vol.45Issue(3)：348-354,7.DOI:10.13976/j.cnki.xk.2016.0348
自由漂浮空间机器人避奇异规划—跟踪算法
Planning and Tracking Algorithm Based on Singularities Avoidance for Free-floating Space Robot
庞哲楠 1张国良 1吴戈 1羊帆 1陈志侃1
作者信息
- 1. 中国人民解放军火箭军工程大学三系,陕西西安710025
- 折叠
摘要
Abstract
To address the problem of poor tracking and control in free-floating space robots working in path-dependent workspaces (PDWs),in this paper,we propose a trajectory planning and tracking algorithm based on singularities avoidance to facilitate the trajectory tracking task of the end-effector.First,we analyze the singularity condition and design a safe margin,and then determine a trajectory with singularity avoidance and the initial configurations by solving the margin value of the base altitude.Secondly,since the nonlinear dynamic model of the free-floating space robot is characterized by a linear-like structure with a state-dependent coefficient,we design the tracking controller based on the state-dependent Riccati equation (SDRE) to track the velocity of the end-effector.This guarantees the locally asymptotical stability of the closed-loop system.As a result,we can overcome the shortcoming of traditional methods of the workplace being limited to path-independent workspaces (PIWs).The simulation results show than,compared to PD control,the proposed algorithm has better tracking accuracy and achieves effective tracking when subjected to input disturbance.关键词
自由漂浮空间机器人/运动控制/动力学奇异性/状态依赖Riccati方程Key words
free-floating space robot/motion control/dynamic singularities/state-dependent Riccati equation分类
信息技术与安全科学引用本文复制引用
庞哲楠,张国良,吴戈,羊帆,陈志侃..自由漂浮空间机器人避奇异规划—跟踪算法[J].信息与控制,2016,45(3):348-354,7.
