On the Dynamics and Control of Free-floating Space Manipulator Systems in the Presence of Angular Momentum
On the Dynamics and Control of Free-floating Space Manipulator Systems in the Presence of Angular Momentum
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DOI：
10.3389/frobt.2017.00026
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发表时间：
2017-06-29
影响因子：
3.4
通讯作者：
Papadopoulos, Evangelos G.
中科院分区：
文献类型：
--
作者：
Nanos, Kostas;Papadopoulos, Evangelos G.
本文研究了具有非零角动量的自由漂浮空间机械臂系统在关节空间和笛卡尔空间中的运动控制问题。考虑NZAM的影响，建立了关节空间和笛卡尔空间的动力学模型。结果表明，NZAM具有与地面固定基座机械手重力效应相似的结果。基于这些相似性，本文提出了在地面固定基座机械手中应用类似于重力补偿的控制器来补偿角动量的影响。为了确定闭环系统的渐近稳定性，必须满足动态模型的某些结构性质。结果表明，尽管存在角动量，这些结构性质仍然适用。因此，即使在角动量存在的情况下，所提出的控制器也能将系统驱动到期望位置。然而，NZAM对系统工作空间施加了约束，其中末端效应器可以在笛卡尔空间中驱动。文中讨论了该控制器的局限性，并通过实例说明了该控制器的应用。
In this paper, the control of free-floating space manipulator systems with non-zero angular momentum (NZAM), for both motions in the joint and Cartesian space, is studied. Considering NZAM, dynamic models in the joint and Cartesian space are derived. It is shown that the NZAM has a similar result to the effect of gravity in terrestrial fixed base manipulators. Based on these similarities, the application of controllers similar to the ones used for the compensation of gravity in terrestrial fixed base manipulators is proposed here to compensate the effect of angular momentum. To confirm the asymptotic stability of the closed-loop systems, some structural properties of the dynamic models must be satisfied. It is shown that despite the presence of angular momentum, these structural properties still apply. Thus, the proposed controllers can drive the system in the desired position despite the presence of angular momentum. However, the NZAM imposes constraints on the system workspace, where the end-effector can be driven in the Cartesian space. Limitations are discussed and the application of the proposed controllers is illustrated by examples.