Space robot control method not depending on model parameters
A space robot and control method technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the technical difficulty of decentralized control scheme design, difficult to accurately measure joint angular velocity, difficult to measure angular velocity and other problems. The practicability and versatility are strong, the versatility is enhanced, and the effect of improving the control accuracy
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[0044] The working process and working principle of the present invention will be further explained below in conjunction with the accompanying drawings.
[0045] Such as figure 1 As shown, a kind of space robot control method that does not depend on model parameter of the present invention comprises the following steps:
[0046] (1) Determine the number of control channels according to the number of degrees of freedom of the space robot, and the number of control channels is the same as the number of degrees of freedom;
[0047] (2) According to the platform attitude angle and angular velocity of the space robot and the joint angle and joint angular velocity of each arm bar of the mechanical arm, determine the adaptive sliding mode controller of each control channel in step (1);
[0048] (3) According to the high-order state observer of the space robot, the angular velocity of the platform, the angular velocity of each arm of the manipulator, and the estimated quantity of the...
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