在轨服务双臂空间机器人的参数辨识

Parameter Identification of On-Orbit-Servicing Dual-Arm Space Robot

以在轨服务自由漂浮双臂空间机器人为研究对象,根据机器人本体携带的测速敏感器测得本体质心的线速度及角速度,基于线动量及角动量守恒,分别对双臂空间机器人本体和单操作臂(另一机械臂悬空)抓取未知目标卫星的过程进行未知参数辨识.文中对空间机器人模型进行了符号推导建模,分析并解决了利用该方法进行惯量参数辨识过程中的线性方程组奇异性问题,研究了机器人的各类参数对辨识研究的影响,并通过数值仿真验证了参数辨识方法的可行性和有效性.

This paper is concerned with the on-orbit-servicing free-floating dual-arm space robot and performs parameter identifications respectively for the robot base and the handling process of an unknown target satellite by one manipulator with the other manipulator hanging in the space. The identification is based on the conservation laws of linear and angular momentums, and it takes into consideration the linear and angle velocities of robot base centroid measured by the sensor that is mounted on the robot base. In the investigation, the space robot is symbolically modeled. Some methods to avoid the singularity of a set of linear equations during the identification of inertias are presented, and the effects of robot parameters on the identification are revealed. A numerical simulation is finally performed to verify the feasibility and effectiveness of the proposed parameter identification methods.