首页|Dynamic modeling and RBF neural network compensation control for space flexible manipulator with an underactuated hand
Dynamic modeling and RBF neural network compensation control for space flexible manipulator with an underactuated hand
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In space operation,flexible manipulators and gripper mechanisms have been widely used because of light weight and flexibility.However,the vibration caused by slender structures in manipulators and the parameter perturbation caused by the uncertainty derived from grasping mass variation cannot be ignored.The existence of vibration and parameter perturbation makes the rota-tion control of flexible manipulators difficult,which seriously affects the operation accuracy of manipulators.What's more,the complex dynamic coupling brings great challenges to the dynamics modeling and vibration analysis.To solve this problem,this paper takes the space flexible manip-ulator with an underactuated hand(SFMUH)as the research object.The dynamics model consid-ering flexibility,multiple nonlinear elements and disturbance torque is established by the assumed modal method(AMM)and Hamilton's principle.A dynamic modeling simplification method is proposed by analyzing the nonlinear terms.What's more,a sliding mode control(SMC)method combined with the radial basis function(RBF)neural network compensation is proposed.Besides,the control law is designed using a saturation function in the control method to weaken the chatter phenomenon.With the help of neural networks to identify the uncertainty composition in the SFMUH,the tracking accuracy is improved.The results of ground control experiments verify the advantages of the control method for vibration suppression of the SFMUH.
Space flexible manipulatorRBF neural networkUnderactuated handDynamic modelsModel simplification
Dongyang SHANG、Xiaopeng LI、Meng YIN、Fanjie LI
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School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China
Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China
国家自然科学基金中央高校基本科研业务费专项国家重点研发计划Applied Basic Research Program of Liaoning Province
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