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针对空间绳系机器人的轨迹跟踪控制问题,提出考虑系绳释放特性的跟踪轨迹协调控制方法.该方法考虑系绳释放的动力学特性,在最优轨迹规划过程中将系绳释放速度作为一个规划量,将系绳释放机构的转矩作为一个控制输入,结合操作机器人上推力器控制输入设计协调耦合位姿控制器.该方法的优点是控制输入易于施加,可工程实现系绳协调控制.仿真结果表明,操作机器人能精确跟踪最优轨迹,末端误差为±0.1m,且能有效跟踪期望姿态,精度在±0.2°.
In order to solve the trajectory tracking control problem of space ro-ro robot, a tracking trajectory coordination control method considering the release characteristics of the tether is proposed. The method considers the dynamic characteristics of the tether release and takes the tether release speed as a plan in the optimal trajectory planning The torque of the tether release mechanism is used as a control input to design the coordinated position and attitude controller with the control input of the manipulator on the thrusters.The advantage of this method is that the control input can be easily applied and the tether coordination control can be realized. The results show that the robot can accurately track the optimal trajectory, the end of the error of ± 0.1m, and can effectively track the desired attitude accuracy of ± 0.2 °.