漂浮基机械臂系统耦合动力学与解耦控制方法

Coupling Dynamics and Coordinated Control Method of Space Floating Manipulator System

在执行空间任务过程中,漂浮基机械臂系统内部的动力学耦合现象使得基体姿态调整和机械臂末端定位与控制问题变得更加复杂。综合考虑多种空间漂浮基机械臂系统共性特征,关注机械臂与基体耦合规律,建立统一的耦合动力学模型,并利用整个系统的非完整性特征和耦合特点,对特定系统设计解耦控制规律。通过控制机械臂关节主动运动实现基体位姿可控和机械臂末端任务不受制约的目的。结果表明,通过合理设置控制参数,在解空间存在的情况下,能够达到漂浮基体与机械臂末端协调运动的目的。

In the process of space task,the dynamic coupling phenomenon in the floating base manipulator system makes the adjustment of the base posture and the positioning and control of the end of the manipulator more complex.In this paper,considering the common characteristics of various space-based manipulator systems,we focus on the coupling law between the manipulator and the floating base,establish a unified coupling dynamic model,and utilize the non-integrity and coupling characteristics of the whole system to design the coordinated control law for a specific system.Then,by controlling the active motion of the joint of the manipulator,the pose of the base can be controlled and the task at the end of the manipulator can be free.Finally,a simulation experiment is set up to verify the effectiveness of the proposed method.The results show that the coordinated motion of the floating base and the end of the manipulator can be achieved by reasonably setting the control parameters in the presence of solution space.