Impact dynamics and control of a flexible dual-arm space robot capturing an object

被引：71

作者：

Liu, Shengping ^{[1
]}

Wu, Licheng

Lu, Zhen

机构：

[1] Beijing Univ Aeronaut & Astronaut, Sch Automat Sci & Elect Engn, Beijing 100083, Peoples R China

[2] Tsinghua Univ, Dept Comp Sci & Technol, State Key Lab Intelligent Technol & Syst, Beijing 100084, Peoples R China

来源：

APPLIED MATHEMATICS AND COMPUTATION | 2007年 / 185卷 / 02期

基金：

中国国家自然科学基金;

关键词：

flexible manipulator; space robot; impact; dynamics; PD-control scheme;

D O I：

10.1016/j.amc.2006.07.035

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

In this paper, we present the effect of payload collision on the dynamics and control of a flexible dual-arm space robot capturing an object. The dynamics model of the robot system is derived with Lagrangian formulation. The two flexible links are modeled as Euler-Bernoulli beams with two bending modes each. Initial conditions are derived from the impact model to simulate the post-impact dynamics of the whole systems. A PD controller is designed, whose purpose is to maintain stabilization of the robot system after the capture of the object. The dynamical simulations are carried out in two cases: the robot system is uncontrolled and controlled after impact. The simulation result shows that impact effect of the object on the space robot is great. It also shows that the joint angles of base and manipulators quickly reach steady state through feedback control. (c) 2006 Elsevier Inc. All rights reserved.

引用

页码：1149 / 1159

页数：11

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