Dynamic Modeling And Robust Control For Space Robot

According to space robot with weak disturbing inertial torque(disturbing torque produced by the attitude motion of Base and produced by Coriolis and Centrifugal forces), Firstly, the calculation of weak disturbing inertial torque of the space robot is extraordinarily time consumption for the complexity of dynamics. Meanwhile, for the parameters uncertainties and the limitation of measuring accuracy of the motion parameters, it is difficult to calculate it exactly. In the thesis, robust controller is designed based on the method of Lyapunov. The controller has good robust and excellent real time when the system parameters of space manipulator have some variations.In the thesis, there is suitable control to compensate weak disturbing inertial torque. Besides, the algorithm complexity of controller is decreased and the time consumption of the control is greatly reduced. PSO algorithm is applied to optimize the weak disturbing inertial matrix of the constrained space and the technical obstacle of weak disturbing inertial torque estimate is solved.Simulation shows that there are good robust and real time. In some task space, the uncompensated control can be compensated by the compensation. Therefore, the control torque can be reduced. Besides, the controller is respectively applied to control 2 joint and 6 joint space manipulators. Robust controller is proved that there is good real time and robust by the comparison and analysis of the 2 joint and 6 joint space robot. Finally, the coupling relationship is verified by attitude control. The simulated results show that the accuracy and rapidity of the responsibility can be improved while the precision of the trajectory tracking is improved.