It introduces the control process of single arm space robot about gesture control and non position control.Based on Lagrange method and conservation of momentum,it builds the nonlinear dynamic model of dual arm space robot system,analyzes the gesture and joint coordinate movement of single arm space robot.Considering the complexity of space robot system structure and the volatility of some parameters,it designs the single arm space robot posture coordinated movements,joint nonsingular terminal sliding mode control scheme.This control method can ensure the stability of the robot control system and realize the motion precision tracking in limited time.The simulation confirms the validity of the proposed control scheme.%讨论了载体姿态受控、位置不受控制的单臂空间机器人系统的控制问题.利用拉格朗日方法并结合系统动量守恒关系,建立了双臂空间机器人系统的非线性动力学模型.以此为基础,对单臂空间机器人姿态、关节协调运动的控制问题作了研究.考虑到空间机器人系统结构的复杂性及其某些参数的变动性,根据具有较强鲁棒性的滑模变结构控制理论,设计了单臂空间机器人姿态、关节协调运动的非奇异终端滑模控制方案.该控制方案不仅可以保证机器人控制系统的稳定性,而且还能使系统在有限时间内实现对所期望运动状态的精确跟踪,同时又可避免普通终端滑模控制中所出现的奇异问题.最后用数值仿真结果证实了所提控制方案的有效性.
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