The Research On The Control Method Of Manipulator Based On The Space Motion Base

With the improving of the ability of space exploration, space robot technology arisesat the historic moment, and get rapid development. Based on the background of freefloating space robot and the space manipulator control method, the research content is asfollows:First of all, according to the basic knowledge of robotics and the characteristics ofspace robot, the combination of linear momentum and angular momentum conservation isestablished under the nonholonomic constraint of the kinematics of free floating spacerobot system model, dynamic model was built according to Lagrange function. In two-linkplanar space robot as an example, using Matlab to do simulation research on mathematicalmodel.Secondly, study on the path planning problem of space manipulator based on movingbase. The basic requirements of space robot control is the control of position and attitudecontrol of manipulator end realize point-to-point or continuous path, thus realize the spacerobot trajectory control is the most basic requirements. Application of five orderpolynomial function, according to the method of path planning in joint spaceparameterization, planning of space robot end effector capture still target trajectory, andare normalized, path planning in the premise of not given planning time, avoid theplanning time change and re calculated, and carried on the simulation case study the pathplanning problem of planar two bar linkage of free floating space robot.Finally, study the problem of adaptive control of space manipulator based on movingbase. Dynamic model of free floating space robot is nonlinear and uncertain factors,environmental interference and time-varying factors such as the position, so that the robotis difficult to control, so the corresponding servo control, motion planning algorithm needto have a certain ability to adapt, to make its operation more safe and reliable, adaptivecontrol can solve the existing good system parameters uncertainty in. This chapter firstlyin determining the system dynamics model based on linear parameter form, carries on thedesign to the global stability of the adaptive controller, in addition to the adaptive controller are optimized, design of adaptive controller to eliminate steady-state error ofposition, finally through the Matlab software simulation, the two adaptive controllers arecompared, draw better control effect.