基于柔性补偿的行星表面采样机械臂控制策略研究  

Research on Flexible Compensation Control Strategy for Planetary Surface Sampling Manipulator

作　　者：唐玲[1] 梁常春[1] 王耀兵[1] 姜水清[1] 袁宝峰[1] 

机构地区：[1]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：《机械工程学报》2017年第11期97-103,共7页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划资助项目(973计划;2013CB733000)

摘　　要：为了适应行星表面较大范围采样及系统减重需求,行星表面采样机械臂通常由细长的臂杆和多个旋转关节串联组成,柔性特征明显。针对4自由度行星采样机械臂,提出基于柔性补偿的控制策略,以提高机械臂的运动精度。基于混合坐标法建立考虑关节和臂杆弯曲变形的机械臂运动学模型,计算机械臂末端柔性偏差;设计机械臂末端笛卡尔空间加速度连续平滑的变加速-匀速-变减速的运动路径,并在期望路径中实时补偿柔性偏差项;基于simulation X软件,建立精细的动力学和关节控制器模型,对机械臂的典型任务进行仿真,验证控制算法的有效性。结果表明,采用柔性补偿的控制策略能够明显提高机械臂的动态跟踪精度及末端定位精度。The flexible feature of planetary surface sampling manipulator is obvious, since it usually consists of several slender arms and rotary joints in series, to meet the requirements of large area sampling and system weight optimization. A control strategy based on flexible compensation is proposed for the 4-DOF planetary surface sampling manipulator, to improve its motion precision. Based on hybrid coordinate method and considering bending deformation of joints and arms, the kinematics model of manipulator is established for calculating flexible deformation in real time. The variable acceleration-uniform motion-deceleration trajectory of manipulator tip in Cartesian space, while the acceleration is consistent and smooth, is planned with flexible deformation compensation. Models of dynamics and joint controller are established, to verify the effectiveness of the control strategy with the simulation of typical tasks of manipulator. The results show that the control strategy can obviously improves the dynamic tracing and tip location precision of manipulator.

关 键 词：柔性 行星表面 机械臂 控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]