基于空间机械臂关节齿隙补偿的滑模控制策略研究

s one of the core components, the joint plays an important role during the movement of space manipulator. Meanwhile, its performance will be influenced by the existence of the backlash, which can severely sacrifice the quality of the manipulator to perform a task. In order to improve the operating performance, a novel control method to compensate the backlash nonlinearity is proposed. In this paper, backlash is treated as torque disturbance, which enters the system at the location of backlash. Then a sliding mode controller based on disturbance observer (DOB) is conducted to eliminate the disturbance, in which the coupled model of elastic joint is solved by decoupling based on feedback linearization in differential geometry. The backlash effect is eliminated and compensated using the proposed method, which is verified by the simulation results. The results indicate that not only the method can improve the tracking precision, but obviously reduce the chattering compared with single sliding mode control.