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力学与实践 ›› 2010, Vol. 32 ›› Issue (2): 85-89.doi: 10.6052/1000-0879-2009-136

• 应用研究 • 上一篇    下一篇

双臂空间机器人关节空间的补偿学习控制

唐晓腾   

  1. 闽江学院汽车系 福州 350108
  • 收稿日期:2009-04-01 修回日期:2009-05-31 出版日期:2010-04-08 发布日期:2010-04-08

GA BASED COMPENSATING LEARNING CONTROL FOR FREE-FLOATING SPACE ROBOT SYSTEM WITH DUAL-ARMS IN JOINTS SPACE

  • Received:2009-04-01 Revised:2009-05-31 Online:2010-04-08 Published:2010-04-08

摘要: 在载体位置与姿态均不受控制情况下,结合动量(矩)守恒关系对系统进行了运动学、动力 学的分析,得到了漂浮基双臂空间机器人的系统动力学方程. 采用PD控制的计算力矩法,得 到了系统的闭环动态误差方程,在此基础上设计了针对不确定性的自由漂浮空间机器人的控 制方案,提出了一种基于遗传算法的补偿学习控制方法. 将补偿学习控制与计算力矩法相结 合,利用遗传算法的进化学习消除不确定因素的影响,实现机器人轨迹跟踪的良好控制.

关键词: 双臂空间机器人;关节运动;遗传算法;学习控制;自由漂浮

Abstract: In this paper, the kinematics and dynamics of the free-floating space robot system with dual-arms are analyzed. The closed-loop dynamic error equation considering uncertainties for such system is derived by using the PD type computed torque method. A new learning control method using real coded genetic algorithm (GA) is used to control the system with its controller structure designed. A compensating learning control term is added to the error equation to deal with the uncertainties by evolutionary learning. Then, the computed torque method and the GA learning control are combined to realize the perfect trajectory tracking. Simulation results show the efficiency of the control method.

Key words: Space Robot System with Dual-arms, Joint motion, genetic algorithm, learning control, Free-floating