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首页> 外文会议>9th International Space Conference of Pacific Basin Societies, Nov 14-16, 2001, Pasadena, California, U.S.A. >PARAMETRIC DYNAMICAL STUDY OF A NOVEL MANIPULATOR
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PARAMETRIC DYNAMICAL STUDY OF A NOVEL MANIPULATOR

机译：新型机械手的参数动力学研究

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摘要

Dynamics of a space-based flexible manipulator with deployable modules is studied first. This is followed by the controlled response of the system using two procedures: (ⅰ) nonlinear Feedback Linearization Technique (FLT) applied to rigid degrees of freedom; (ⅱ) rigid as well as flexible degrees of freedom controlled through FLT and Linear Quadratic Regulator (LQR), respectively. Results suggest that the fundamental mode is able to capture the physics of the response quite accurately. Due to its massive character, the platform dynamics is virtually unaffected even by severe maneuvers. Although the link flexibility does affect the tip vibration of the manipulator, the joint and platform vibrations remain negligible. The revolute joint flexibility appears to be an important parameter affecting both the joint and tip responses. The system exhibits unacceptable response under critical combinations of parameters. The FLT control is found to be quite effective in regulating the rigid-body motion of manipulator links as well as the attitude motion of the platform. The combination of FLT and LQR further improves the controller's performance.
机译：首先研究具有可部署模块的天基柔性机械手的动力学。其次是通过两个过程控制系统的响应：（ⅰ）应用于刚性自由度的非线性反馈线性化技术（FLT）； （ⅱ）分别通过FLT和线性二次调节器（LQR）控制的刚性和柔性自由度。结果表明，基本模式能够相当准确地捕获响应的物理性质。由于其强大的特性，即使进行严格的操作，平台动力学几乎也不会受到影响。尽管链接的柔韧性确实会影响机械手的尖端振动，但关节和平台的振动仍然可以忽略不计。旋转关节的柔韧性似乎是影响关节和尖端响应的重要参数。在关键参数组合下，系统表现出不可接受的响应。发现FLT控制在调节机械手连杆的刚体运动以及平台的姿态运动方面非常有效。 FLT和LQR的组合进一步提高了控制器的性能。

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