自由浮动空间双臂机器人抓持内力的优化控制

Optimizing Control of the Grasping Internal Force for a Free-Floating Dual-Arm Space Robot

运用非线性规划方法,提出了一种本体位置、姿态均不受控的自由浮动空间双臂机器人的内力优化与控制策略。首先根据空间双臂机器人及负载的动力学方程,建立了抓持系统合成动力学方程,进而将机器人各手臂关节广义驱动力矩的范数作为目标函数,内力作为优化变量,采用了序列二次规划法来解决空间机器人的动态内力优化计算问题,并对双臂六自由度空间机器人进行了内力优化控制仿真实验,结果表明了该方法的有效性。

Based on NP（Nonlinear Programming）, the optimal computation and optimizing control scheme of the internal force for a dual-arm space robot without base position and orientation control handing a single load are presented in this paper. Firstly, in terms of dynamic equations of the dual arms and the load, the combined dynamics equation for the grasping system is built, Then , to choose the generalized joint drive torques as an object function and the internal force as an optimizing variable, optimal dynamic internal foree computation for the space robot is solved by using SQP（Sequential Quadratic Programming）. The simulation results for a planar dual-arm space robot with six freedoms show the effectiveness of the optimizing control scheme of the internal force.