Compensating Learning Control for Free-floating Space Robot System with Dual-Arms Using Genetic Algorithm in Joints Space

被引：0
|
作者：
Tang, Xiaoteng [1 ]
Chen, Li [2 ]
机构：
[1] Minjiang Univ, Dept Automot Engn, Fuzhou 350108, Peoples R China
[2] Fuzhou Univ, Coll Mech Engn, Fuzhou 350002, Peoples R China
来源：
CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS | 2009年
关键词：
Space Robot System with Dual-arms; Joint motion; genetic algorithm; learning control; Free-floating;
D O I：
10.1109/CCDC.2009.5191837
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. The closed-loop dynamic error equation considering uncertainties for the space robot is derived by using the PD type computed torque method. A new learning control method using real coded genetic algorithm is presented to control the system and its controller structure is designed. A compensating learning control item is added to the error equation to approach the uncertainties by evolutionary learning. Then, the computed torque method and the GA learning control are combined to realize the perfect trajectory tracking. Simulation results show the efficiency of the control method.
引用
收藏
页码：689 / +
页数：3
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