空间机器人协调控制全物理仿真设计与验证  

The Design and Verification of Experiment System for Cooperative Control of Space Robot

作　　者：王颖[1,2] 韩冬[1,2] 刘涛[1,2] 

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术重点实验室,北京100190

出　　处：《空间控制技术与应用》2015年第2期30-35,共6页Aerospace Control and Application

摘　　要：机械手在空间运动时,对卫星本体会产生干扰,卫星本体采用协调控制方法,减少机械手运动对本体的影响.设计基于气浮台的全物理仿真试验系统,通过气足漂浮支撑机械手和三自由度气浮台,来模拟卫星在空间微重力环境下一个平面内的协调控制运动,采用星上部件、控制器和控制软件,对协调控制进行了验证.Cross-couplings between the satellite-base and the manipulator occur when the manipulator move around. The cooperative control method is used to decrease the effect of disturbance torque on satel- lite attitude. The experimental simulation system is designed based on the air-bearing table. The manipu- lator beard by gas is installed on the air-bearing platform for simulating the cross-coupling motions in the micro-gravity condition. The cooperative control method is verified via the experimental equipment, con- trol unit and software on board.

关 键 词：空间机器人 协调控制 全物理仿真试验系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]