Dynamic Modeling and Tracking Control of Fuel Filled Space Robotic System with Flexible Manipulators
In recent years, dynamics model and control of space robot system are the hot topics in the research field. In this paper, a new dynamics model and control strategy of space robotic system with a flexible manipulator and a liquid fuel tank are investigated. Based on Lagrange equation method, the dynamics model of the space robotic system coupling with liquid sloshing, flexibility vibration and base movement is derived. The elastic deflection of the flexible manipulator is described by the assumed mode method and equivalent mechanical model is adopted instead of liquid sloshing under the environment of low-gravity. The inverse dynamics control algorithm combined with PD control method is performed to solve the trajectory tracking problem. Some simulation results are given to verify the effectiveness of the proposed method.
space robotic system:dynamic modeling and tracking control:flexible manipulator:fuel-filled:equivalent mechanical model.
Xinxin Yang Xiong Luo Fuchun Sun Fengge Wu Huaping Liu
University of Science and Technology Beijing,Beijing 100083,and the National Laboratory of Space Int State Key Laboratory of Intelligent Technology and System,Department of Computer Science and Technol
国际会议
哈尔滨
英文
1195-1200
2010-01-08（万方平台首次上网日期，不代表论文的发表时间）