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The dynamic model of a planar free-floating rigid-flexible redundant space manipulator with tree joints is derived by the assumed mode method, Lagrange principle and momentum conservation. Based on minimal joint torque optimization, the state equations of chaos motion for the free-floating redundant space manipulator are built. Then chaotic numerical method is used to analyze chaotic dynamic characteristics of the model. The robust Proportional-Derivative(PD) compensatory control, the delayed feedback control and the optimal control are designed in work space, joint space and mode space respectively. The composite control can assure the trajectory tracking, chaotic suppression and vibration control. The experimental results show the effectiveness of the presented methods.
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Keywords:
- space manipulator /
- nonlinear dynamics /
- chaos motion suppression /
- composite control
[1] Varghese M, Fuehs A 1990 The 2nd IEEE International Conference on Systems Engineering Pittsburgh, August 9-11, PA, 1990 p66
[2] Matthew V, Andreas F 1991 IEEE Transaction on Aerospace and Electronic Systems 27 784
[3] ShrinivasL G A 1996 Proceeding of the International Conference on Robot and Automation Washington DC, April 1996 p241
[4] Ravishallkar A S, Ghosal A 1999 The International Journal of Robots Research 18 93
[5] Li L, Li K F, Chen Y 2003 Journal of Mechanical Transmission 27 1 (in Chinese) [李立, 李开富, 陈永2003 机械传动 27 l]
[6] Wang D L, Lu Y F, Li Y C, Liu Y 1998 Journal of Nonlinear Dynamics in Sciences and Technology 5 230 (in Chinese) [王大龙, 陆佑方, 李元春, 刘岩 1998 非线性动力学学报 5 230]
[7] Fernando B, Duarte M, Tenreiro Machado J A 2002 Nonlinear Dynamics 29 315
[8] Wang X L, Wang C Q 2009 Journal of Astronautics 30 31 (in Chinese) [王香岭, 王从庆 2009 宇航学报 30 31]
[9] Sun C C, Fang B, Huang W H 2011 Acta Phys. Sin. 60 110503 (in Chinese) [孙常春, 方勃, 黄文虎 2011 60 110503]
[10] Miao Z Q, Wang Y N 2012 Acta Phys. Sin. 61 030503 (in Chinese) [缪志强, 王耀南 2011 61 030503]
[11] Li C L, Yu S M 2012 Acta Phys. Sin. 61 040504 (in Chinese) [李春来, 禹思敏 2011 61 040504]
[12] Cocuzza S, Pretto I, Debei S 2011 Acta Astronautica 68 1712
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[1] Varghese M, Fuehs A 1990 The 2nd IEEE International Conference on Systems Engineering Pittsburgh, August 9-11, PA, 1990 p66
[2] Matthew V, Andreas F 1991 IEEE Transaction on Aerospace and Electronic Systems 27 784
[3] ShrinivasL G A 1996 Proceeding of the International Conference on Robot and Automation Washington DC, April 1996 p241
[4] Ravishallkar A S, Ghosal A 1999 The International Journal of Robots Research 18 93
[5] Li L, Li K F, Chen Y 2003 Journal of Mechanical Transmission 27 1 (in Chinese) [李立, 李开富, 陈永2003 机械传动 27 l]
[6] Wang D L, Lu Y F, Li Y C, Liu Y 1998 Journal of Nonlinear Dynamics in Sciences and Technology 5 230 (in Chinese) [王大龙, 陆佑方, 李元春, 刘岩 1998 非线性动力学学报 5 230]
[7] Fernando B, Duarte M, Tenreiro Machado J A 2002 Nonlinear Dynamics 29 315
[8] Wang X L, Wang C Q 2009 Journal of Astronautics 30 31 (in Chinese) [王香岭, 王从庆 2009 宇航学报 30 31]
[9] Sun C C, Fang B, Huang W H 2011 Acta Phys. Sin. 60 110503 (in Chinese) [孙常春, 方勃, 黄文虎 2011 60 110503]
[10] Miao Z Q, Wang Y N 2012 Acta Phys. Sin. 61 030503 (in Chinese) [缪志强, 王耀南 2011 61 030503]
[11] Li C L, Yu S M 2012 Acta Phys. Sin. 61 040504 (in Chinese) [李春来, 禹思敏 2011 61 040504]
[12] Cocuzza S, Pretto I, Debei S 2011 Acta Astronautica 68 1712
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