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A self-adaptive control method for space multi-arm complex connection complex

A technology of adaptive control and control method, applied in the direction of program control manipulator, manufacturing tool, manipulator, etc., can solve the problems of complex structure, flexible manipulator system, complex system model and so on

Active Publication Date: 2015-10-21
BEIJING INST OF CONTROL ENG
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the complex structure of the multi-arm complex connection complex and the flexibility problem of the manipulator system, the system model is very complicated

Method used

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  • A self-adaptive control method for space multi-arm complex connection complex
  • A self-adaptive control method for space multi-arm complex connection complex
  • A self-adaptive control method for space multi-arm complex connection complex

Examples

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Embodiment

[0041] Example: Taking a complex connection complex with three 7-degree-of-freedom manipulators as an example, combined with system dynamics and trajectory planning, the numerical simulation of the entire process of system target capture, quality characteristic parameter identification, and target recovery is carried out. The mass / inertia parameters of each body in the system are shown in Table 1, and the inertia and static moments in the table are described in the body coordinate system of each body.

[0042] Table 1 Mass / inertia parameters of each body in the system

[0043] Mass(Kg) Inertia (kg.m2) Static moment (kg.m) satellite body 3600 diag(1040, 1178, 1222) [0，0，0] T target star 800 diag(149, 139, 160) [0，0，0] T Level 1 arm 5 diag(1.979, 1.979, 1.025)×10 -2 [0，0，0.25] T 2nd stage arm 25 diag(0.05318.34980349) [-12.5，0，0] T Level 3 Arm 25 diag(0.053111.03611.036) [14.375，0，0] T Level 4 Arm 3.5 dia...

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Abstract

The invention discloses a self-adaptation control method for a space multi-arm complicated-connection complex. The self-adaptation control method for the space multi-arm complicated-connection complex is high in precision, good in adaptability and independent from specific parameter values of the complex, on-line identification does not need to be carried out on parameters in an ontrack mode, only measurable output is needed, and a controller has good robustness on uncertainty of the parameters. According to the self-adaptation control method for the space multi-arm complicated-connection complex, a simple self-adaptation control method is popularized to controlled objects which have high relative orders and non-approximate strict positive realness. When the self-adaptation control method is used for solving the problem of closed-chain control of mechanical arms, mechanical arm system closed-chain motion constraint conditions are introduced into trajectory planning, ideal trajectories, meeting the motion constraint conditions, of the mechanical arms are given through the trajectory planning, and therefore the problem of closed-chain control of the mechanical arms is simplified into the problem that tracking of mechanical arm systems meets the requirement for tracking of the ideal trajectories of kinematics constraint.

Description

technical field [0001] The invention relates to an adaptive control method for a space multi-arm complex connection complex, in particular to a high-precision adaptive control method for a space multi-arm complex connection complex, belonging to the field of spacecraft attitude control. Background technique [0002] In the motion phase of the manipulator, the motion of the system is a typical multi-body system, whether it is the capture or recovery section. The motion of any body will affect the motion state of other bodies in the system, and its kinematic coupling relationship is very complicated; especially when After the multiple arms cooperate to capture the target and form a closed chain, not only the motion of each body has a dynamic coupling relationship, but also the system has direct motion constraints. Typically, during operation, the control objective is to keep the platform stable while simultaneously making each robotic arm track a desired motion trajectory. In...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1669
Inventor 王大轶汤亮何英姿刘敏魏春岭
Owner BEIJING INST OF CONTROL ENG