Modeling and control of free flying flexible joint coordinated robots
Modeling and control of free flying flexible joint coordinated robots
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DOI：
10.1109/icar.1997.620305
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发表时间：
1997-07
期刊：
影响因子：
--
通讯作者：
Yan-Ru Hu;G. Vukovich
中科院分区：
文献类型：
--
作者：
Yan-Ru Hu;G. Vukovich
研究了一个由若干柔性关节机器人组成的基于封闭运动链约束的航天器柔性关节机器人系统。首先，建立了具有关节柔性和封闭运动约束的协调空间机器人系统的运动学和动力学模型。利用奇异摄动理论，将整个自由飞行协调空间机器人系统分解为控制物体位置和内力的慢速子系统和控制关节弹性的快速子系统。设计了一种由慢分系统的位置和内力控制器和快分系统的关节弹性力控制器组成的协调控制器，用于协调柔性关节机器人之间的载荷分配，控制物体的位置和内力以及关节弹性力。
A system consisting of several flexible joint robots mounted on a spacecraft with closed kinematic chain constraints is studied in this paper. First, the kinematics and dynamics of such coordinated space robotic systems in the presence of joint flexibility and with closed kinematic constraints are established. Using the singular perturbation theory, the entire free-flying coordinated space robotic system is decomposed into two subsystems, one the slow subsystem governing the object position and internal forces, the other the fast subsystem governing the joint elastic forces. A coordinated controller consisting of a position and internal force controller for the slow subsystem and a joint elastic force controller for the fast subsystem is designed to distribute the load between the coordinated flexible joint robots and to control the object position and internal forces as well as the joint elastic forces.