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首页> 外文会议>IEEE International Conference on Robotics & Automation >Dynamic modeling and control of a free-flying space robot with flexible-link and flexible-joints
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Dynamic modeling and control of a free-flying space robot with flexible-link and flexible-joints

机译：具有柔性链接和柔性关节的自由飞行空间机器人的动态建模和控制

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Free-flying space robot's nonlinearity and strong coupling characters make the dynamics and control of such system more complicated than a terrestrial robot system. The Space robots are always built in very light for saving the launch energy. The flexibility of the joints and links is considerable arising from its elasticity. Controlling this manipulator is more complex than controlling one with rigid joints due to the interactions of rigid and flexible motion, in which only a single actuation signal can be applied at each joint and has to control the flexure of both the joint itself and the link attached to it. To discussing an under-actuated flexible-link flexible-joint space manipulator, a free-flying space manipulator with one flexible link and two flexible revolute joints is presented in this paper. The dynamical Lagrange equation is established, and a singularly perturbed model has been formulated and used for designing a reduced-order controller. This controller consists of a rigid control component and two fast control components. Numerical simulations show that the link and joint vibrations have been stabilized effectively with good tracking performance.
机译：自由飞行太空机器人的非线性和强耦合特性使该系统的动力学和控制比地面机器人系统更为复杂。太空机器人总是非常轻便，以节省发射能量。关节和连杆的柔韧性是由其弹性引起的。由于刚性和柔性运动的相互作用，控制该机械手比使用刚性关节控制机器人要复杂得多，在这种情况下，每个关节只能施加一个致动信号，并且必须控制关节本身和连接的连杆的挠曲。对它。为了讨论欠驱动的柔性连杆柔性关节空间操纵器，本文提出了一种具有一个柔性连杆和两个柔性旋转关节的自由飞行空间操纵器。建立了动态​​拉格朗日方程，并建立了奇摄动模型并将其用于设计降阶控制器。该控制器由一个刚性控制组件和两个快速控制组件组成。数值模拟表明，链节和接头的振动已得到有效稳定，跟踪性能良好。

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