多自由度空间机械手嵌入式控制系统研究  

Study of the Embedded Control System for Multi-DOF Space Manipulator

作　　者：李楠[1] 霍宏[1] 叶玉璇[1] 杨俊峰[1] 陆俊百[1] 

机构地区：[1]北京航天自动控制研究所,北京100854

出　　处：《航天控制》2015年第4期46-50,83,共6页Aerospace Control

摘　　要：为了满足航天器在轨维护、空间站建设以及对敌方航天器捕获等航天活动对轻型智能空间机械手的迫切需求,本文设计了一种具有力、位感知能力和多自由度控制能力的嵌入式控制系统用于对多自由度仿生型空间机械手的控制。该机械手具有5根手指,外形、大小和重量均接近人手,控制系统可对手指的运动位置和抓取力矩进行测量,并实现对各手指单独运动和多手指协调运动的控制。另外,通过采用阻抗控制算法提高了抓取过程的柔顺性和稳定性。In order to maintain in-orbit spacecrafts , build space stations and capture enemy spacecrafis etc , a smart and light space manipulator is urgently required. A kind of embedded control system is designed to control a multiple degree of freedom （multi-DOF） anthropomorphic space manipulator which has five fin- gers and similar shape, size and weight compared with the human hand. The rotating angle of each fin- ger＇ s base joint and the torque loaded on the fingers of the manipulator can be measured by the control sys- tem. And individual finger movement control and coordination multi-finger movement control can be a- chieved. Moreover, the impedance control algorithm is adopted to improve the flexibility and stability during the grabbing process.

关 键 词：空间机械手 嵌入式控制系统 传感器 阻抗控制 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]