Volume 32 Issue 5
Sep.  2012
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LIN Chengjin, CHEN Li. Robust Control Based on Velocity Filter of Free-floating Dual-arm Space Robot System in Inertial Space[J]. Journal of Space Science, 2012, 32(5): 757-764. doi: 10.11728/cjss2012.05.757
Citation: LIN Chengjin, CHEN Li. Robust Control Based on Velocity Filter of Free-floating Dual-arm Space Robot System in Inertial Space[J]. Journal of Space Science, 2012, 32(5): 757-764. doi: 10.11728/cjss2012.05.757

Robust Control Based on Velocity Filter of Free-floating Dual-arm Space Robot System in Inertial Space

doi: 10.11728/cjss2012.05.757
  • Received Date: 2010-11-10
  • Rev Recd Date: 2012-05-03
  • Publish Date: 2012-09-15
  • The robust control scheme based on velocity filter of free-floating dual-arm space robot system with uncertain payload parameters was studied. Through the Lagrangian approach, the dynamic equation of the free-floating space robot was modeled as under-actuated system. With the augmentation approach, it was demonstrated that the dynamic equations and the augmented generalized Jacobi matrix of the system can be linearly dependent on a group of inertial parameters, respectively. Based on the results, a robust controller based on velocity filter was developed for dual-arm space robot system with uncertain payload parameters to track the desired trajectories in inertial space. Ascribe to the pseudo-velocity signal acquired through the velocity filter, the proposed control scheme with only accurate positions of the joints and the end-effectors feedback avoid measuring the velocity and acceleration of the end-effectors. And it can avoid the control chatter effectively at the same time. The effect of the controller is testified by computer simulation.

     

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