Trajectory tracking control of space manipulator considering friction and clearance
Based on the high precision requirements of space manipulator in orbit service,the trajectory tracking control of space manipulator considering friction and clearance in different gravity environments is studied.Taking two link space manipulator as the research object,the paper establishes the equivalent model with clearance based on light bar model,establishes friction model by using Kane equation and moment balance principle,and establishes the dynamic equation of manipulator by Lagrange equation.The controller without model is designed.On this basis,the driving force of friction and clearance to the joint of the manipulator and the trajectory tracking accuracy of the end of the manipulator are analyzed under different gravity conditions.The tracking effect of the algorithm is com-pared with the tracking effect of the robot arm end controlled by proportional derivative(PD)algorithm.The supe-riority of the model control algorithm is verified under different gravity conditions without changing the parameters and structure of the controller.
space manipulatorgravityjoint frictionjoint clearancemodelless
万方数据
维普
