| 带滑移铰空间机械臂的动力学与协调运动的滑模控制方法 |
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| 引用本文： | 陈力.带滑移铰空间机械臂的动力学与协调运动的滑模控制方法[J].商丘师范学院学报,2000,16(4):21-25. |
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| 作者姓名： | 陈力 |
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| 作者单位： | 福州大学机械工程系!福建福州350002 |
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| 基金项目： | 国家自然科学基金资助项目 !(1 9872 0 32 ) |
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| 摘 要： | 讨论了载体位置不受控制的带滑移铰两杆空间机械臂本体与末端抓手协调运动的控制问题。结合系统动量守恒系统我们导出了系统的动力学方程以及机械臂末端抓手的线速度与关节铰速度间的动力学Ｊａｃｏｂｉ关系。
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| 关 键 词： | 带滑移铰空间机械臂 协调运动 滑模控制 动力学 |
The dynamics and variable structure coordinated control of space based manipulator with prismatic joint |
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| CHEN Li.The dynamics and variable structure coordinated control of space based manipulator with prismatic joint[J].Journal of Shangqiu Teachers College,2000,16(4):21-25. |
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| Authors: | CHEN Li |
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| Abstract: | In this paper,The coordinated control scheme of spacecraft attitude and manipulator of the space based manipulator with prismatic joint and whose spacecraft position is not controlled is discussed.The dynamic equations of the systems and the generalized Jacobian matrix are derived.Based on the results,The variable structure coordinated control scheme of spacecraft attitude and its manipulator is developed.It is demonstrated that the proposed control scheme is efficient by the simulation. |
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| Keywords: | space based manipulator with prismatic joint coordinated motion of spacecraft attitude and its manipulator variable structure control |
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