摘要
双臂空间机器人对目标的协同操作具有负载能力大、定位精度高的特点,同时存在着闭链运动和控制力约束条件.本文以双臂六自由度空间机器人为研究对象,针对同一目标的搬运操作任务,建立了闭链系统的动力学模型.基于机器人和目标的虚切断铰接结构,以操作臂为刚性运动,协作臂为柔性运动的操作模式,分别设计了关节跟踪控制律和柔顺阻尼控制律.基于实例进行了运动仿真,验证了双臂协同控制算法的有效性.
Dual-Arm space robot can manipulate cooperatively the target with the characters of Heavy-Load and high precision,which has the constraint conditions of closed-chain and control structure simultaneously.The closed-chain dynamics model is provided to achieve the target carry manipulation for dual-arm 6-DOF space robot in this paper.Based on the virtual cutoff hinge structure the manipulator arm adopts rigid motion mode,while the cooperative arm adopts compliance motion mode.The joint tracking algorithm and compliance control law are designed respectively.A numerical example of space manipulation verifies the effectiveness of the proposed method.
作者
原劲鹏
葛连正
李德伦
YUAN Jinpeng;GE Lianzheng;LI Delun(Institute of Spacecraft System Engineering,China Academy of Space Technology,Beijing 100094,China;School of Mechatronics,Harbin Institute of Technology,Harbin 15000,China)
出处
《空间控制技术与应用》
CSCD
北大核心
2023年第2期42-50,共9页
Aerospace Control and Application
基金
国家重点研发项目资助(2018YFB1307100)。
关键词
双臂空间机器人
闭链
操作臂
协作臂
柔顺控制
dual-arm space robot
closed-chain
manipulator arm
cooperative arm
compliance control
