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Robust coordinated control of a dual-arm space robot

机译:双臂空间机器人的鲁棒协调控制

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摘要

Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the anus and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.
机译:与单臂太空机器人相比,双臂太空机器人更有能力执行复杂的太空任务。但是,肛门与底座之间的动态耦合将严重影响航天器的姿态和每个手臂的手部动作。在这项工作中,太空机器人的两个臂取代了将一只臂作为任务臂,另一只臂作为平衡臂,而不是将其作为平衡臂,目的是实现对浮动目标的安全捕获。在系统不确定的情况下,研究了任务空间中基地姿态和手臂运动的协调控制。通过数值模拟,对两种类型的控制器(即滑模控制器(SMC)和非线性模型预测控制器(MPC))进行了验证,并将其与传统的计算转矩控制器(CTC)进行了比较,从控制精度和系统鲁棒性方面进行了比较。两种控制器都无需线性参数化动态方程。已证明,在MPC消耗可比能量的情况下,在没有系统不确定性的情况下,MPC可以实现比CTC和SMC更高的精度。当包括系统不确定性时,SMC和CTC具有比MPC更优越的鲁棒性。具体而言,在系统惯性增加的情况下,SMC的准确性高于CTC,并且消耗的能量最少。

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