桁架式可展开抓取机构展开动力学建模及其自适应鲁棒控制

A dynamic modeling method for the deployment motion of a new type of truss-shaped deployable grasping mechanism is proposed, and a control strategy considering nonlinear factors, such as over-constraints, is designed to improve the motion performance. The truss-shaped deployable grasping mechanism is briefly introduced, and the dynamic model of the deployment motion of the mechanism is established by using Lagrangian mechanics and the recursive method. Using the known information of the dynamic model, an extended state observer is designed to estimate the dynamic part caused by the over-constraints in the mechanism. An improved adaptive robust controller based on extended state observer is proposed, where the inertia parameter of the mechanism is estimated by a discontinuous-projection-based adaptive control law, and the problem of the traditional adaptive robust controller is overcome by proposing an adaptive sliding mode control law. The experimental platform of deployable grasping mechanism is built, and the effectiveness of the proposed controller is verified in comparison with the existing state-of-the-art controllers.