摘要
针对空间机械臂与环境接触时环境刚度和阻尼会发生突变或渐变情况下的柔顺控制问题,提出了一种阻抗参数可根据环境自适应改变的控制方法.利用最小二乘法,对空间机械臂接触的环境阻尼与刚度进行在线估计.通过分析空间机械臂与环境接触时的系统特性,推导了环境与机械臂看作一体的二阶系统,并由二阶系统的响应特性提出了阻抗参数随环境自调整的自适应方案.最后以平面2自由度机械臂为对象进行了数值仿真,相较于传统阻抗控制方法,所提出的自适应阻抗控制在力控制精确性、减小最大接触力和适应不同接触环境上有一定的优势.
An impedance control method in which the impedance parameters can be adaptively changed according to the environment is proposed oriented to compliance control of space manipulators in contact with environment when the environmental stiffness and damping change abruptly or gradually.The least square method is used to estimate the environmental damping and stiffness.By analyzing the system characteristics of the space manipulator collided with the environment,a second-order system in which the environment and the manipulator are regarded as one is deduced.Based on the response characteristics of the second-order system,an adaptive scheme of impedance parameters self-adjusting with the environment is proposed.Finally,a numerical simulation is carried out on a planar 2-DOF manipulator.Compared with the traditional impedance control method,the proposed adaptive impedance control has certain advantages in force control accuracy,reducing the maximum contact force and adapting to different contact environments.
作者
戚毅凡
贾英宏
赵宝山
洪闻青
QI Yifan;JIA Yinghong;ZHAO Baoshan;HONG Wenqing(Kunming Institute of Physics,Kunming 650223,China;Beihang University,Beijing 100191,China;Tianjin Institute of Aerospace Mechanical and Electrical Equipment,Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology,Tianjin 300301,China)
出处
《空间控制技术与应用》
CSCD
北大核心
2023年第2期51-57,共7页
Aerospace Control and Application
基金
国家自然科学基金资助项目(11772023)。
关键词
空间机械臂
柔顺控制
自适应阻抗控制
最小二乘法
space manipulator
compliance control
adaptive impedance control
least squares method
