本文選題：冗余自由度機構(gòu) + 衛(wèi)星天線　； 參考：《哈爾濱工程大學(xué)學(xué)報》2017年10期

【摘要】：為了建立一種實時求解串聯(lián)冗余自由度機構(gòu)關(guān)節(jié)角位置的方法,解決串聯(lián)冗余自由度機構(gòu)逆運動學(xué)求解中角位置的求解問題,給出了逆運動學(xué)的數(shù)值解。根據(jù)加權(quán)偽逆理論,采用瞬時最優(yōu)速度表達關(guān)節(jié)空間角增量的方法,研究了關(guān)節(jié)空間角位置數(shù)值解法,給出了冗余自由度機構(gòu)連續(xù)跟蹤期望空間姿態(tài)時的關(guān)節(jié)空間角位置計算方法。在典型運動輸入條件下,分別恒定速比關(guān)節(jié)位置算法和加權(quán)逆速度積分方法獲得的關(guān)節(jié)位置和姿態(tài)誤差進行仿真。為驗證算法有效性,以衛(wèi)星天線姿態(tài)穩(wěn)定系統(tǒng)為研究對象,仿真結(jié)果表明,恒定速比關(guān)節(jié)位置算法在運動學(xué)逆解過程中能夠保證天線姿態(tài)誤差Frobenius(弗羅貝尼烏斯)范數(shù)小于10~(-4)。仿真結(jié)果表明:本文提出的方法能夠連續(xù)給出冗余自由度機構(gòu)運動過程中的關(guān)節(jié)空間角位置的希望值,實現(xiàn)了逆運動學(xué)角位置層面的數(shù)值解和理想的控制精度。
[Abstract]:In order to establish a real-time method to solve the joint angle position of series redundant mechanism, and to solve the problem of inverse kinematics of series redundant mechanism, the numerical solution of inverse kinematics is given. According to the weighted pseudo-inverse theory, the instantaneous optimal velocity is used to express the joint space angle increment, and the numerical solution of joint space angle position is studied. The calculation method of joint angle position for continuous tracking of desired spatial attitude of redundant DOF mechanism is presented. The joint position and attitude errors obtained by the constant velocity ratio joint position algorithm and the weighted inverse velocity integral method are simulated under the condition of typical motion input. In order to verify the effectiveness of the algorithm, a satellite antenna attitude stabilization system is studied. The simulation results show that the constant speed-ratio joint position algorithm can guarantee the antenna attitude error Frobenius (Frobenius) norm less than 10 ~ (10) ~ (-4) ~ (-1) in the inverse kinematics solution. The simulation results show that the proposed method can continuously give the desired position of joint space angle in the motion process of redundant DOF mechanism, and achieve the numerical solution of the inverse kinematic angle level and the ideal control accuracy.
【作者單位】： 哈爾濱工程大學(xué)自動化學(xué)院;北京航天控制儀器研究所;
【基金】：國家自然科學(xué)基金項目(61203225,61633008) 黑龍江省自然科學(xué)基金項目(QC2014C0669) 中央高校專項基金項目(HEUCF041702) 海洋工程國家重點實驗室開放課題項目(1616)
【分類號】：TN820

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本文編號：1810875