双臂空间机器人姿态、关节协调运动基于RBF神经网络的自适应控制算法

郭益深; 陈力

双臂空间机器人姿态、关节协调运动基于RBF神经网络的自适应控制算法

郭益深,
陈力

福州大学机械工程及自动化学院,福州 350002

基金项目: 国家自然科学基金资助项目(10372022;10672040);福建省自然科学基金资助项目(E0410008)

详细信息

作者简介:
郭益深(1978- ),男,福建人,博士生(联系人.E-mail:gysguoyishen@sina.com).

中图分类号: TP241
计量
- 文章访问数: 3291
- HTML全文浏览量: 110
- PDF下载量: 554
- 被引次数: 0
出版历程
- 收稿日期: 2007-08-15
- 修回日期: 2008-08-07
- 刊出日期: 2008-09-15

Adaptive Neural Network Control for Coordinated Motion of Dual-Arm Space Robot System With Uncertain Parameters

College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, P. R. China

摘要

摘要: 讨论了载体位置无控、姿态受控情况下，双臂空间机器人姿态、关节协调运动的控制问题．由Lagrange第二类方法及系统动量守恒关系，建立了漂浮基双臂空间机器人的系统动力学方程．以此为基础，借助于RBF神经网络技术、GL矩阵及其乘积算子定义，对双臂空间机器人系统进行了神经网络系统建模；之后针对双臂空间机器人所有惯性参数均未知的情况，设计了双臂空间机器人载体姿态与机械臂各关节协调运动基于RBF神经网络的自适应控制算法．提出的控制算法不要求系统动力学方程具有惯常的关于惯性参数的线性性质，且无需预知系统惯性参数的任何信息，也无需对神经网络进行离线训练、学习，因此更适于实时应用．一个平面漂浮基双臂空间机器人系统的数值仿真，证实了该控制算法的有效性．
- 漂浮基双臂空间机器人 /
- RBF神经网络 /
- GL矩阵及其乘积算子 /
- 协调运动 /
- 自适应控制算法
Abstract: The control problem of coordinated motion between the base's attitude and the arms' joints of a free-floating dual-arm space robot with uncertain parameters was discussed. Combining the relationship of the system linear momentum conversation and the Lagrangian approach, the dynamic equation of a free-floating dual-arm space robot was established. Based on the above results, the free-floating dual-arm space robot system was modeled by the RBF neural network technique, the GL matrix and its product operator. With all uncertain inertial parameters of system, the adaptive RBF neural network control scheme was developed for coordinated motion between the base's attitude and the arms. joints of the free -floating dual-arm space robot. This proposed control scheme need neither linearly parameterize the dynamic equation of system and foreknow any actual inertial parameters accurately, nor train the neural network offline so that it could be prone to real-time and online application. A planar free-floating dual-arm space robot is simulated to verify the feasibility of the proposed control scheme.
- free-floating dual-arm space robot /
- RBF neural network /
- GL matrix and its product operator /
- coordinated motion /
- adaptive control

HTML全文

参考文献(22)

[1]	Takahashi R,Ise H,Sato D.Hybrid simulation of a dual-arm space robot colliding with a floating object[A].In:2008 IEEE International Conference on Robotics and Automation[C].Pasadena,USA:IEEE Press,2008:1201-1206.
[2]	Abiko S,Hirzinger G.An adaptive control for a free-floating space robot by using inverted chain approach[A].In:Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].San Diego,USA:IEEE Press,2007:2236-2241.
[3]	Huang P-F,Yuan J-P,Liang B.Adaptive sliding-mode control of space robot during manipulating unknown objects[A].In:2007 IEEE International Conference on Control and Automation[C].Guangzhou,China:IEEE Press,2007:2907-2912.
[4]	Dubowsky S,Papadopoulos E.The kinematics,dynamics and control of free-flying and free-floating space robotic systems[J].IEEE Transactions on Robotics and Automation,1993,9(5):531-543. doi: 10.1109/70.258046
[5]	刘延柱.航天器姿态动力学[M].北京:国防工业出版社,1995.
[6]	李俊峰,王照林.带空间机械臂的充液航天器姿态动力学研究[J].宇航学报,1999,20(2):81-86.
[7]	郭益深,陈力.滑移铰空间机器人基于分级Lyapunov方法的避障碍非完整运动规划[J].空间科学学报,2005,25(2):154-160.
[8]	GUO Yi-shen,CHEN Li.Robust control of dual-arm space robot system with two objects in joint space[A].In:2006 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Beijing,China:IEEE Press,2006:5091-5095.
[9]	陈力.空间机械臂载体与末端抓手协调运动的鲁棒与自适应混合控制方案[J].固体力学,2003,24(3):327-333.
[10]	Walker M W,Wee L-B.Adaptive control of space-based robot manipulators [J].IEEE Transactions on Robotics and Automation,1992,7(6):828-835.
[11]	Xu Y S,Shum H Y,Kanade T,et al.Parameterization and adaptive control of space robot systems[J].IEEE Transactions on Aerospace and Electronic Systems,1994,30(2):435-451. doi: 10.1109/7.272266
[12]	Gu Y L,Xu Y S.A normal form augmentation approach to adaptive control of space robot systems[J].Journal of the Dynamics and Control,1995,5(3):275-294. doi: 10.1007/BF01968678
[13]	马保离,霍伟.空间机器人系统的自适应控制[J].控制理论与应用,1996,13(2):191-197.
[14]	CHEN Li,LIU Yan-zhu.The robust control scheme for free-floating space manipulator to track the desired trajectory in joint space[J].Acta Mechanica Solida Sinica,2001,14(2):183-188.
[15]	陈力,刘延柱.空间机器人姿态与末端抓手协调运动的鲁棒自适应联合控制[J].工程力学,2002,19(2):165-170.
[16]	陈力.带滑移铰空间机械臂惯性空间轨迹的复合自适应跟踪控制[J].空间科学学报,2003,23(1):60-67.
[17]	Newton R T,Xu Y S.Neural network control of a space manipulator[J].IEEE Control Systems Magazine,1993,13(6):14-22. doi: 10.1109/37.247999
[18]	Ge S S.Robust adaptive NN feedback linearization control of nonlinear systems[J].Internat J Syst Sci,1996,27(12):1327-1338. doi: 10.1080/00207729608929339
[19]	Ge S S,Hang C C,Woon L C.Adaptive neural network of robot manipulators in task space[J].IEEE Transactions on Robotics and Automation,1997,44(6):746-752.
[20]	Sanner R M,Vance E E.Adaptive control of free-floating space robots using “Neural” networks[A].In:Proceedings of the American Control Conference[C].Seattle,Washington:IEEE Press,1995:2790-2794.
[21]	Ortega R,Spong M W.Adaptive motion control of rigid robots:A tutorial[J].Automatica,1989,25(6):877-888. doi: 10.1016/0005-1098(89)90054-X
[22]	Desoer C,Vidyasagar M.Feedback Systems:Input-Output Properties[M].New York:Academic,1975.