关键词: 闭链双臂空间机器人, 径向基函数神经网络, 力/位置, 漂浮基, 自适应补偿控制

Abstract: Hybrid position and force control problem of grasped object of a free-floating space manipulator with closed kinematic chain is discussed. The dynamics model of synthetical system is obtained based on multi-bodies dynamics method and kinematic and dynamic characteristic of free-floating grasping systems, and the control problems for the object to track the desired trajectory in workspace and adjustment of interactive forces due to the interaction between the object and the end-effectors are discussed. Because of the high structure complexity and the parameter uncertainty of such systems, the scheme of radial basis function neural network compensation control with better robustness to uncertainty and disturbance is proposed to track the desired trajectory of the object, and the corresponded scheme of internal forces control is proposed synchronously. Therefore, the object position and internal forces can be regulated simultaneously. The effect of the controllers is testified by computer simulation and simulation results verify that the proposed control scheme can eliminate the effect of uncertain parameters on the control system.

Key words: Dual-arm space robot with closed-chain, Force/position, Free-floating, Radial basis function neural network, Self-adaptive compensation control