冗余空间机械臂的运动学和笛卡尔阻抗控制方法

Kinematics and Cartesian Impedance Control for Redundant Space Robotic Arm

为了能让七自由度空间机械臂在空间站外壁换位行走,需要在对接的过程中能够自动控制机械臂接触力以确保其在安全的范围之内。介绍了七自由度空间机械臂的运动学计算方法,采用二次计算法求得其逆运动学解。提出了基于安装在空间机械臂末端六维力传感器反馈的笛卡尔空间阻抗控制方法,将逆运动学解转化到关节空间的位置内环进行位置控制,经Simulink仿真优化参数后在空间机械臂上进行了调试实验,结果表明,力的控制效果柔顺。

In order to travel outside the space station safely, a 7--DOF SRA needed to be able to automatically control the contact force during connection process. This paper firstly presented the ki- nematic solution of SRA which used two--phase calculation to deal with inverse kinematics. Then a valid Cartesian impedance control method based on end force--torque sensor was proposed, after pa- rameter optimization by SIMULINK,the tests were implemented on SRA. Experimental results have verified the effectiveness of the proposed method.