On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty
On-line parameter adaptation for a momentum control in the post-grasping of a tumbling target with model uncertainty
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DOI：
10.1109/iros.2007.4399190
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
S. Abiko;G. Hirzinger
中科院分区：
文献类型：
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作者：
S. Abiko;G. Hirzinger
研究了空间机器人在动态参数未知的翻滚目标后抓取过程中动量积累控制的参数在线自适应问题。目标中的模型不准确导致在抓取目标之后意外的翻滚运动。在跟踪机器人手臂稳定轨迹的同时，希望尽可能快地将整个角动量传递到反作用轮，以避免追逐机器人中的自碰撞。首先，我们从角动量方程推导出一种动量控制方法，将全部角动量累积到反作用轮中。参数的不准确性降低了控制性能。在此基础上，提出了一种利用力和动量耦合的在线自适应律。数值模拟进行了验证所提出的方法在模型不确定性的存在下的操作性能。
This paper addresses an on-line parameter adaptation for a momentum accumulation control of a space robot in the post-grasping of a tumbling target whose dynamic parameters are unknown a priori. The model inaccuracies in the target lead to an unexpected tumbling motion after grasping a target. It is desired to transfer the entire angular momentum to the reaction wheels as quickly as possible while stabilization trajectory of the robot-arm is tracked to avoid self-collision in the chaser-robot. Firstly, we derive a momentum control method from the angular momentum equation to accumulate the entire angular momentum into the reaction wheels. The parameter inaccuracies degrade the control performance. Then, an online adaptation law by using coupling force and momentum is proposed. A numerical simulation is carried out to verify the operational performance of the proposed method in the presence of model uncertainty.