中文核心期刊
CNKI期刊全文数据库
中国科学引文数据库(CSCD)源期刊
中国科技论文统计源期刊
万方数据知识服务平台
英国《科学文摘》(SA)
美国化学文摘(CA)
俄罗斯《文摘杂志》(AJ)
德国《天文学与天体物理学文摘》(AAA)
英国《中国天文学和天体物理学》(SCI收录)全文摘译期刊之一
《中国学术期刊文摘》
《中国物理文摘》
《中国天文学文摘》

• 论文 • Previous Articles    

Robust Variable Structure Control for Free-Floating Space Robot System With Dual-Arms in Joints Space

TANG Xiaoteng, CHEN Li   

  1. The College of Mechanical Engineering, Fuzhou University 350002
  • Received:1900-01-01 Revised:1900-01-01 Online:2007-09-15 Published:2007-09-15

Abstract: In this paper, the kinematics and dynamics of free-floating space robot system with dualarms are analyzed. It is shown that the dynamic equations of the system are nonlinearly depending on inertial parameters. In order to overcome these problems, the system is modeled as under-actuated robot system, and the idea of augmentation approach is adopted. It is demonstrated that the dynamic equations of the system can be linearly dependent on a group of inertial parameters. Based on the results, a robust variable structure control scheme for free-floating space robot system with dualarms with uncertain inertial parameters to track the desired trajectory in joint space is proposed, and a planar space robot system with dual arms is simulated to verify the proposed control scheme. The advantage of the control scheme proposed is that it requires neither measuring the position, velocity and acceleration of the floating base with respect to the orbit nor controlling the position and attitude angle of the floating base. In addition to this advantage, it is computationally simple, more suitable for real time applications.

Key words: Space environment, Re-locatable Atmospheric Observatorv (RAO)