机械臂辅助舱段转位轨迹跟踪控制与精度分析

Trajectory Tracking Control and Accuracy Analysis of Space Robotic Arm Assisted Cabin Redocking

舱段转位是空间站机械臂的核心任务之一,舱段转位过程中的高精度控制是保证实验舱与核心舱径向对接的重要前提。通过建立转位过程的高保真度仿真模型,分析了不同的整臂控制策略及关节控制策略对转位过程中机械臂轨迹跟踪精度的影响;指出了提高整臂控制精度需要整臂控制和关节控制协调设计,提高关节伺服控制带宽和降低关节目标速度频率都是提高机械臂末端跟踪精度的有效方法。

Cabin redocking is one of the most important tasks of the space station manipulator and high-precision tracking control during cabin transfer is a precondition for redocking .With the estab-lishment of a high fidelity simulation model , the trajectory tracking accuracy was analyzed under dif-ferent arm control and joint control strategies .To improve the control accuracy , arm control and joint control should be designed coordinately , high bandwidth of joint control and low frequency joint tar-get speed are helpful to improve the tracking accuracy .