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The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods. 相似文献
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本文通过实例重点介绍了通过改进生产周期过长的机器人焊接工位,来提高生产节拍,为以后提高焊装线生产效率提供了一种参考方法. 相似文献
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本文对汽车生产中采用机器人的应用领域进行了技术分析,就合理的选型、适宜的环境、完善的维护、恰当的布局等问题进行了深入的讨论。并指出应加强机器人技术的应用研究以适应未来10年我国汽车工业大发展需要。 相似文献
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文章着重介绍了汽车动力总成自动化装配线上新研发采用的十字滑台浮动环节的机械结构、工作原理以及工作过程,通过此结构在实际现场使用的情况,对比分析了新型结构与传统结构的利弊区别,着重阐述了十字滑台浮动机构在汽车动力总成自动化装配线上所起的作用及其推广优势,以及由此带来的经济效益和社会效益。 相似文献