空间机械臂辅助大质量舱体对接阻抗控制方法  

Impedance Control for Space Manipulator Assisted Massive Module Docking Mission

作　　者：莫洋[1] 魏博[1] 李辉[1] 蒋志宏[1] 黄强[1] 饶炜[2] 王耀兵[2] 唐自新[2] 张晓东[2] 张大伟[2] 唐玲[2] 

机构地区：[1]北京理工大学机电学院智能机器人研究所,北京100081 [2]北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室,北京100094

出　　处：《载人航天》2016年第1期126-131,共6页Manned Spaceflight

基　　金：国家自然科学基金(61573063;61503029);国家863高科技计划项目(2015AA043101);国家科技支撑计划(2015BAF10B02)

摘　　要：针对空间机械臂辅助大质量舱体对接任务中,由于大臂展机械臂柔性、控制误差、机械误差等因素,导致末端位置精度差、对接机构偏离对中位带来的对接困难的问题,提出采用阻抗控制的方法。分析了对接任务中的模拟对接机构的特性,发现其受到的碰撞力与对中位姿偏离方向具有一致性,验证了阻抗控制算法的可行性;针对六维力传感器安装位置距离对接机构较远、惯性力影响严重的问题,提出了六维力信号补偿算法,保证了阻抗控制计算的正确性;进行了仿真实验,结果表明采用阻抗控制算法能在保证对接成功的前提下,有效减小接触力大小。During the space manipulator assisted massive module docking mission,the docking mechanism will face many challenges during the docking due to the low precision of manipulator pose caused by factors such as flexibility of big wingspan manipulator,control error,and mechanism error. To solve this problem,a new impedance control method was proposed in this paper. First,the docking mechanism in the docking mission was analyzed and it was found that there was uniformity between the direction of the force applied in the docking mechanism and the direction of the centralization pose error of peg and hole. The feasibility of impedance control algorithm was verified. Then,because the 6-D force sensor was installed in a place far from the docking mechanism and the massive docking module led to big inertia force,the impedance control algorithm could not get the force signals that reflect the actual situation of the docking mechanism. So a 6-D force signals compensation algorithm was proposed to guarantee the correctness of the impedance control calculation. In the end,some simulation experiments were carried out and the results showed that the impedance control algorithm with force signals compensation can both ensure the successful docking and reduce the contact force effectively.

关 键 词：阻抗控制 空间机械臂 力补偿 对接控制 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]