基于动力学前馈的空间机器人多销孔装配力柔顺控制  

Force Compliance Control of Multi-peg-in-hole Assembling by Space Robot Based on Dynamic Feedforward

作　　者：董悫 张立建[1,2] 易旺民 万毕乐[1,2] 孟少华 胡瑞钦[1,2] DONG Que;ZHANG Lijian;YI Wangmin;WAN Bile;MENG Shaohua;HU Ruiqin(Beijing Institute of Spacecraft Environment Engineering,Beijing 100094;Beijing Engineering Research Center of the Intelligent Assembly Technology and Equipment for Aerospace Product,Beijing 100094)

机构地区：[1]北京卫星环境工程研究所,北京100094 [2]北京市航天产品智能装配技术与装备工程技术研究中心,北京100094

出　　处：《机械工程学报》2019年第4期207-217,共11页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划资助项目(863计划;2015AA043101)

摘　　要：多组销孔对接并固定是空间站舱外可移动仪器设备的最常用安装方式,其中多组销孔的自动对接是空间服务机器人能否代替航天员完成这一任务的关键。针对这一问题,首先对多销孔配合结构的特殊受力情况进行分析,提出适合的力柔顺控制方法,并针对微重力环境下机器人控制所面临的特殊问题,采用基于动力学前馈的控制方法,直接对关节进行力矩补偿,再基于所建立的机器人关节的数学模型,对前馈算法的补偿量进一步映射到电机电流环,从而进一步加快关节响应速度,保证力柔顺装配效果,最后分别针对所提出的力柔顺装配方法和前馈算法进行了模拟微重力试验和仿真试验,试验验证了所提出的针对空间多销孔对接的力柔顺装配控制方法的有效性。该方法为空间服务机器人安全完成舱外仪器设备安装任务提供了技术支撑,并可为空间服务机器人其他任务的安全稳定控制提供借鉴。Multi-peg-in-hole assembling and immobilization is the most commonly installation function of extravehicular mobile equipment,and the automatic docking is the key of Space robots replacing astronauts. Focusing on this problem,this paper analyses the special stress condition of multi-peg-in-hole structure,and proposes a suitable force compliance method. Then focusing on the special problem of robot control which is brought by micro-gravity environment,this paper uses a control method based on dynamics feedforward,and compensating the joint torque directly. Also it builds a mathematic model and mapping compensation value to current circle of motors,to speed up the response rate of robot joints,at last,the simulation experiments and micro-gravity experiments are presented to verify the effectiveness of proposed force compliance method. This method provides the basic technology of extravehicular mobile equipment assembling task for space robot,and also provides inspiring for other steady control manipulations of space robot.

关 键 词：空间机器人 多销孔对接 动力学前馈 力柔顺 电机模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]