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空间双臂机器人抓捕翻滚目标后的鲁棒稳定控制

夏鹏程 罗建军 王明明

夏鹏程, 罗建军, 王明明. 空间双臂机器人抓捕翻滚目标后的鲁棒稳定控制[J]. 力学学报, 2021, 53(4): 1138-1155. doi: 10.6052/0459-1879-20-449
引用本文: 夏鹏程, 罗建军, 王明明. 空间双臂机器人抓捕翻滚目标后的鲁棒稳定控制[J]. 力学学报, 2021, 53(4): 1138-1155. doi: 10.6052/0459-1879-20-449
Xia Pengcheng, Luo Jianjun, Wang Mingming. A ROBUST STABILIZATION CONTROL FOR DUAL-ARM SPACE ROBOT CAPTURING TUMBLING TARGET[J]. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(4): 1138-1155. doi: 10.6052/0459-1879-20-449
Citation: Xia Pengcheng, Luo Jianjun, Wang Mingming. A ROBUST STABILIZATION CONTROL FOR DUAL-ARM SPACE ROBOT CAPTURING TUMBLING TARGET[J]. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(4): 1138-1155. doi: 10.6052/0459-1879-20-449

空间双臂机器人抓捕翻滚目标后的鲁棒稳定控制

doi: 10.6052/0459-1879-20-449
基金项目: 1)深圳市科技研发资金(JCYJ20190806154412671);国家自然科学基金(61973256);国家自然科学基金(61690211);国家自然科学基金(61690210)
详细信息
    作者简介:

    2)王明明, 副教授, 主要研究方向: 空间机器人运动规划与控制. E-mail: mwang@nwpu.edu.cn

    通讯作者:

    王明明

  • 中图分类号: V448.2

A ROBUST STABILIZATION CONTROL FOR DUAL-ARM SPACE ROBOT CAPTURING TUMBLING TARGET

  • 摘要: 针对空间双臂机器人抓捕翻滚目标的稳定控制问题, 由于目标惯性参数的不确定性以及双臂同时作用于目标存在内力挤压, 已有的稳定控制方法无法有效地约束机械臂末端与目标的接触力与力矩, 无法保证控制过程中抓捕点处的接触安全. 为此, 本文考虑被抓捕目标惯性参数不确定性与双臂内力挤压对抓捕后阶段组合体稳定控制的影响, 提出了一种保证接触安全的鲁棒稳定控制方法. 首先, 根据目标的有界不确定性构造鲁棒正不变集, 同时考虑双臂与目标接触内力的影响, 利用预测控制方法在该不变集内规划控制目标运动的虚拟接触力与力矩. 然后, 根据目标动力学模型以及空间双臂机器人的运动约束, 规划空间双臂机器人的鲁棒安全期望运动轨迹. 最后, 利用障碍李雅普诺夫函数构造跟踪控制器, 使空间双臂机器人有效地跟踪期望轨迹, 从而使得翻滚目标运动受到等效于虚拟控制律的作用, 在保证接触安全的同时实现鲁棒的稳定控制. 通过空间双臂机器人稳定翻滚目标的仿真算例验证了所提方法的有效性.

     

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出版历程
  • 收稿日期:  2020-12-24
  • 刊出日期:  2021-04-10

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