MODELING AND CONTROL OF FREEFLYING FLEXIBLE JOINT COORDINATED ROBOTS

摘要

A system consisting of sevd joint robots mounted on a spmmjl with closed kinematic chain constmints is studied in this paper. First, the kinematics and dgrmmica of such woniimted space rvbotic sgstems in the pn?sence of joint ibility and with closed kinematic constmints an? established. Using the singular perturbation themy, the entin? M-jlging wolrlinated space robotic system is decomposed into two subsystems, one the slow subsystem governing the object position and internal fom, the other the fast subsystem governing the joint elastic fom. A woniinated controller, consisting of a position and internal fom wntrvller for the slow subsystem and a joint elastic fom wntmller for the fast subsystem is designed to distribute the bad between the coordinatedjkxible joint robots and to wntml the object position and internal forces as well as the joint elastic foms.