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研究双臂空间机器人捕获目标过程的动力学控制和仿真。利用第二类拉格朗日方程建立空间机器人动力学模型,并基于动量定理,计算捕获目标过程机器人漂浮基座和机械臂运动状态受到的碰撞影响效应。针对捕获目标后形成的闭链系统,设计力/位形协调控制算法对系统的运动状态和目标的夹持内力进行控制,以保证捕获过程系统的稳定性、可靠性和安全性。基于动力学模型和控制算法进行数值仿真,仿真结果验证了上述控制算法的有效性。
Study on Dynamic Control and Simulation of Target Acquisition Process of Two-Arm Space Robot. The second type of Lagrangian equation is used to establish the dynamics model of space robot. Based on the momentum theorem, the impact of the collision of the floating base and the manipulator on the target process robot is calculated. For the closed-chain system formed after the target is captured, the force / position coordination control algorithm is designed to control the movement state of the system and the target internal holding force so as to ensure the stability, reliability and safety of the captured process system. Based on the dynamic model and the control algorithm, numerical simulation is carried out. The simulation results verify the effectiveness of the above control algorithm.