【作者】 史大军；

【导师】 王从庆；

【作者基本信息】 南京航空航天大学 ， 控制理论与控制工程， 2009， 硕士

【摘要】 随着空间技术的发展,空间柔性冗余机器人的研究受到了广泛的关注。由于它结构的特殊性,柔性臂在运动中会发生变形和振动,这给空间柔性冗余机器人的定位和跟踪控制带来了很多的问题。因此,针对自由浮动空间柔性冗余机器人的动力学建模与振动控制及关节运动优化控制问题,本文进行了深入的研究,并进行了仿真实验验证。首先,本文基于假设模态法、拉格朗日方程和动量守恒,推导了自由浮动空间柔性冗余机器人系统的动力学模型,并对负载轨迹进行跟踪控制,同时,还与刚性机器人系统比较分析,仿真结果说明了柔性臂存在弹性形变以及其影响着本体和负载的状态。其次,针对柔性臂的弹性形变和振动问题,本文采用了基于滤波器的滑模振动控制方法,并与PD控制方法进行了比较,实验仿真结果说明了前一种控制方法的优越性。再次,本文分析了自由浮动空间柔性冗余机器人弹性动力响应的特性,在结构参数不变的情况下,利用柔性冗余度机器人关节运动的冗余特征,构造出以冗余关节角为状态变量的控制结构,并由此得出基于关节运动参数的柔性冗余机器人的冗余关节控制方法。最后,从自由浮动空间柔性冗余机器人的自运动出发,讨论自运动变量的选取,利用雅可比矩阵零空间矢量与自运动变量的关系,推导了自运动变量解析表达式,然后构造出以自运动变量为状态变量的优化控制系统,并由此得出基于自运动变量的自由浮动空间柔性冗余机器人优化控制方法。更多还原

【Abstract】 With the development of space technology, the research on the flexible redundant space robot has attracted much attention. The structural flexibility inevitably causes the elastic deflection and vibration. As a consequence, the positioning and tracking performance of the flexible redundant robot will tend to be degraded. In this paper, the dynamic modeling、vibration suppression controll and joint motion optimization control are dealt with, and plenty of simulation tests have conducted to verify the effectiveness of the proposed methods.Firstly, on the basis of the assumed modes method, Lagrange principle and momentum conservation, the dynamic modeling of a Free-floating Flexible Redundant Space Robot holding a rigid payload in a workspace is derived,and the trajectory tracking has been performed. At the same time, compared with the rigid robot system,simulation tests make out that the flexible structure presences flexibility vibration, which affects the state of the base and payload.Secondly, for the elastic deflection and vibration of a Free-floating Flexible Redundant Space Robot, a sliding control approach based on the filter is developed,compared with the PD control method,simulation tests verify the advantage of the first approach.Thirdly,the character for flexible dynamic response of the flexible redundant space robot is studied. In the situation of invariable structure parameter,the control structure for the redundant joint angle variables is constructed by making use of the redundant character of the flexible redundant joint motion. Then,an approach for redundant joint motion of the flexible redundant robot is presented.Finally,based on the self-motion of the flexible redundant space robot,the self-motion variable is discussed. Making use of the relation between the Jacobi matrix null space vector and the self-motion variable, the self-motion expression of kinematics capability is presented.Then, an optimization control system is constructed, from which, a control algorithm of the flexible redundant space robot based on self-motion variable is presented.更多还原