空间机器人在轨更换ORU的力/位混合控制方法  

A Hybrid Force/Position Control Method of Space Robot Performing On-Orbit ORU Replacement

作　　者：徐文福[1,2] 周瑞兴[1,2] 孟得山[1,2] 

机构地区：[1]哈尔滨工业大学深圳研究生院,深圳518055 [2]深圳市数字化制造技术重点实验室,深圳518055

出　　处：《宇航学报》2013年第10期1353-1361,共9页Journal of Astronautics

基　　金：国家自然科学基金(61175098;51205078);机器人技术与系统国家重点实验室开放基金(SKLRS-2012-MS-05)

摘　　要：针对ORU在轨更换任务,首先推导了空间机械臂末端自由、末端与环境接触等情况下的动力学方程,并提出了相应的接触力计算方法;其次,改进了传统的R-C控制方法,采用加权选择矩阵代替原有的选择矩阵,实现了力控制与位置控制之间的平滑切换;最后,开发了基于Matlab/Simulink的闭环控制仿真系统,该系统由多体动力学、接触动力学、轨迹规划、力/位混合控制、3D显示等模块组成。利用该系统开展了ORU转移与安装过程的闭环控制仿真,仿真结果校验了所提方法的有效性。Aiming at the ORU on-orbit replacement task, the system dynamics equations are firstly derived under the conditions that the end-effector is free or the end-effector contacts with the enviromnent. The corresponding computational methods of the contact forces are proposed. Secondly, the traditional R-C control method is modified by using weighted selection matrix to replace the original selection matrix, thus achieving a smooth switching between the force control and the position control. Lastly, a closed-loop simulation system based on Matlab/Simulink is developed. It is composed of muhi- body dynamics, contact dynamics, trajectory planning, hybrid force/position control, 3D display modules, et al. By using the system, the closed-loop control simulation of the ORU transfer and installation process is carried out. The simulation results verify the proposed method.

关 键 词：空间机器人 力 位混合控制 ORU更换 接触动力学 选择矩阵 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]