柔性宏/微空间机械手系统的误差补偿

Error compensation in flexible macro-micro space manipulator system

利用一个柔性宏 /微机械手空间机器人结构 ,即在一台大型的柔性宏机械手的末端安装一台小型的微机械手 ,以提高柔性空间机器人的作业精度。基于机器人摄动理论和正、逆运动学理论 ,推导利用微机械手的快速和精密运动消除柔性宏 /微机械手误差的补偿原理。仿真结果表明补偿前 ,宏 /微机械手末端点因弹性杆件变形引起的在 x方向的最大误差近 6 m m,在 y方向的最大误差近 8m m,采用所提出的方法进行补偿后 ,末端误差几乎为零。

A macro micro manipulator system with a large flexible link macro manipulator and a small rigid micro manipulator is proposed to improve the operational accuracy of flexible space manipulators. Perturbation principles and forward/inverse kinematics were used to compensate for tip errors in the flexible macro micro manipulator system through fast, fine adjustment of the micro manipulator. Simulation results show that the maximum errors before compensation of about 6 mm in the x direction and about 8 mm in the y direction can be reduced to nearly zero with the macro micro manipulator system. This method can effectively improve the positioning and tracking performances.