关键词: 轨迹跟踪, 宏微空间机器人, 滑模变结构控制, 冲击损伤, 假脚, 剩余压缩强度, 碳纤维复合材料

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: Sliding mode control, Macro-micro space robot, Trajectory tracking