一种基于位置阻抗的机械臂抓捕飞行器控制方法  

A Spacecraft Capture Method with Manipulator based on Impedance Control

作　　者：潘冬[1] 李大明[1] 胡成威[1] 刘宾[1] 张大伟[1] 梁常春[1] PAN Dong;LI Daming;HU Chengwei;LIU Bin;ZHANG Dawei;LIANG Changchun(Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications,Institute of Spacecraft System Engineering,Beijing 100094,China)

机构地区：[1]北京空间飞行器总体设计部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》2018年第3期308-312,共5页Manned Spaceflight

摘　　要：针对机械臂抓捕飞行器过程碰撞冲击大或发生大构型变化易碰撞问题,提出并实现了一种基于位置闭环的阻抗控制方法,通过对机械臂末端等效刚度控制实现机械臂抓捕目标过程的柔顺控制,基于建立的系统全数字仿真模型对控制效果进行了仿真验证,结果表明阻抗控制软抓捕与位置保持硬抓捕相比,可大幅减小机械臂抓捕目标过程末端与目标间的碰撞冲击力,并且能控制机械臂构型在抓捕中不产生过大变化从而避免碰撞。To solve the large impact and large configuration change problems during the spacecraft capturing with manipulator,an impedance control method based on position closed loop was proposed and implemented.Based on the capture dynamic model,the simulation analysis was carried out.The results showed that compared with the hard capture of position maintaining,the impedance control capture could significantly reduce the impact force generated at the end of the manipulator and thus avoided collision caused by too large configuration changes.

关 键 词：机械臂 悬停飞行器 抓捕 阻抗控制 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]