Constrained mechanical systems modeling and control: A free-floating space manipulator case as a multi-constrained system
Constrained mechanical systems modeling and control: A free-floating space manipulator case as a multi-constrained system
复制标题
DOI：
10.1016/j.robot.2014.04.004
复制
发表时间：
2014-10
期刊：
影响因子：
--
通讯作者：
E. Jarzębowska;K. Pietrak
中科院分区：
文献类型：
--
作者：
E. Jarzębowska;K. Pietrak
本文提出了约束多体系统建模框架的开发，该系统的约束可能是运动学、基于任务、设计、控制或源自守恒定律的约束。该框架是面向控制的，因为其动态模块以简化状态形式产生非线性系统动力学，即准备好采用控制算法。它包含受到任何等式一阶约束的系统，并且在这方面它统一了控制应用程序的建模。由于动态建模统一和内置的简化程序，框架属性支持非线性系统模型的数值计算和模拟研究。通过动力学建模和设计自由浮动空间机械臂的跟踪控制器的示例来说明该框架的应用，该机械臂处于欠驱动状态，受到守恒定律和基于任务的约束的影响。
The paper presents a development of a modeling framework for constrained multibody systems, for which constraints may arise either as kinematic, task-based, design, control or origin from conservation laws. The framework is control oriented since its dynamic modules yield nonlinear system dynamics in reduced state forms, i.e., ready to employ control algorithms. It encompasses systems subjected to any equality first order constraints and in this regard it unifies modeling for control applications. The framework properties support numerical computation and simulation studies for nonlinear system models due to the dynamic modeling unification and the reduction procedure built into it. The framework application is illustrated by an example of dynamics modeling and designing a tracking controller for a free-floating space manipulator, which is underactuated, subjected to conservation laws and task-based constraints.