地面和空间机械臂的动力学等效条件与控制相似律

This paper establishes the dynamic equivalence conditions and control scaling laws between ground and space manipulators, thus a ground manipulator can be designed to verify the performance of controllers that developed for space manipulators. First, the dynamic equivalence conditions between the space and ground manipulators are obtained by using the dimensional analysis, based on which, a ground manipulator can be designed for the given space manipulator leading to the dynamic equivalence between the two systems. Then, the control scaling laws between the two systems are formalized, therefore the given controller of the space manipulator can be transformed to that of the ground manipulator and verified on the ground system. Finally, unlike the space manipulator, since the ground manipulator may not have the complete six degrees of freedom for its base and it suffers from the gravity effects, the realistic dynamics of the ground manipulator may deviate from the dynamic equivalence conditions, thus a feedback linearization technique based dynamic error compensation scheme is developed for the ground manipulator to make it have the same joint movements to those of the space manipulator. As a result, controllers of the space manipulator can be verified on the ground manipulator, and it is shown how the performance of a PID controller for the space manipulator is verified using the designed ground manipulator in the simulations.