含有未驱动关节的空间机器人控制

Control of Space Robots with Unactuated Joints*

中文关键词  空间机器人  欠驱动系统  非完整约束  平均系统

英文关键词  averaging control  nonholonomic comol  underactuated robot

中文摘要

      含有未驱动关节的自由漂浮空间机器人具有不可积分的速度和加速度约束，因而是一个二阶非完整系统，通过分析系统的动力学结构，本文设计了一种全新的基于速度控制的方法控制未驱动关节，然后采用多步混合控制策略实现空间机器人的定位跟踪．

英文摘要

      The underactuated free floating robot in space is nonlinear systems where velocity and acceleration constraints are both nonintegrable, therefore it is a second order nonholonomic system.ln this paper, by investigating the system dynamics in depth, we propose a simple velocity-based method to control the unactuated joints and a multi-step composite strategy to imple-ment orientation tracking tasks. The proposed algorithm is of significance in controlling space robots when some joints fail to function, or they are intentionally set to be passive for energy efficiency and safety purposes.