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Abstract: The
kinematic model and the dynamic model of a kind of flexible macro-micro
space manipulator system are built. A simplified scheme is used to
compensate for tip tracking errors caused by flexible deformation and
vibration in the flexible macro-micro manipulator system through fast,
precise motion of the micro manipulator. Moreover, two schemes are
proposed. One is applying two PD controllers on the macro manipulator
and the micro manipulator respectively. The other is applying a PD
controller and a sliding mode controller on the macro manipulator and
the micro manipulator respectively. The performances of the two
different schemes are compared and analyzed in simulation. The
simplified compensating scheme is tested effective. The scheme which is
applying sliding mode controller can make better performance than the
other one.
Key
words: Macro-micro
space robot Sliding mode control Trajectory tracking
CLC No: TP24
国家自然科学基金资助项目(60305008,
60174018, 90205008). Received 20041221, received in revised form
20050413
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