机械科学与技术2023，Vol.42Issue(12)：1977-1985,9.DOI:10.13433/j.cnki.1003-8728.20220175
漂浮基机械臂系统耦合动力学与解耦控制方法
Coupling Dynamics and Coordinated Control Method of Space Floating Manipulator System
摘要
Abstract
In the process of space task,the dynamic coupling phenomenon in the floating base manipulator system makes the adjustment of the base posture and the positioning and control of the end of the manipulator more complex.In this paper,considering the common characteristics of various space-based manipulator systems,we focus on the coupling law between the manipulator and the floating base,establish a unified coupling dynamic model,and utilize the non-integrity and coupling characteristics of the whole system to design the coordinated control law for a specific system.Then,by controlling the active motion of the joint of the manipulator,the pose of the base can be controlled and the task at the end of the manipulator can be free.Finally,a simulation experiment is set up to verify the effectiveness of the proposed method.The results show that the coordinated motion of the floating base and the end of the manipulator can be achieved by reasonably setting the control parameters in the presence of solution space.关键词
耦合动力学/漂浮基体/机械臂/控制/仿真Key words
coupling dynamics/floating base/manipulator/cooperative control/simulation分类
机械制造引用本文复制引用
陈正仓,贾峰..漂浮基机械臂系统耦合动力学与解耦控制方法[J].机械科学与技术,2023,42(12):1977-1985,9.基金项目
国家自然科学基金项目(52275005,52105085)与陕西省自然科学基金项目(2022JQ-342) （52275005,52105085）
