自由漂浮空间双臂机器人动目标抓捕控制  

Control of Free-Floating Space Dual-Arm Robot for Capturing Moving Targets

作　　者：李梁 李剑飞[2,3] 张大伟 王宁飞[1] LI Liang;LI Jian-fei;ZHANG Da-wei;WANG Ning-fei(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Institute of Spacecraft System Engineering,CAST,Beijing 100094,China;Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications,Beijing 100094,China)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]北京空间飞行器总体设计部,北京100094 [3]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：《北京理工大学学报》2019年第6期615-623,共9页Transactions of Beijing Institute of Technology

摘　　要：针对空间双臂系统捕获移动目标任务,建立了自由漂浮空间双臂机器人系统动力学模型.针对开链追踪过程,利用自适应方法同时实现速度估计和目标追踪的收敛,可保证双臂同时捕获目标,并设计了基于耦合、漂浮模型的反馈控制律;针对闭链对接过程,根据运动约束协调规划双臂的运动,并利用反馈线性化法设计了一种自由浮动空间机器人双臂协调阻抗控制方法,使双臂并联系统的阻抗可以独立配置.仿真结果表明,相比纯追踪,该追踪方法捕获时间更短,轨迹更平直,闭链过程中有效降低了内力,保证了对接的平稳.A dynamic model of free-floating dual-arm robot system was established for the task of capturing a moving target.For the tracking process of open-chain,the adaptive method was used to achieve the convergence of speed estimation and target tracking at the same time,to ensure that the two arms captured the target simultaneously.At the same time,the feedback control law concerning the coupling and floating model was designed.For the docking process of closed-chain,the movement of the dual arm was planned coordinately according to the constraints.Meanwhile,a coordinated impedance control algorithm for dual-arm space robot system was designed based on feedback linearization,with which the impedance of the dual-arm parallel system could be independently configured.The simulation shows that compared with pure tracking,the tracking method achieves a rapider capture process and a straighter track,and the internal force is effectively cut down and the docking is smoother in the closed chain process due to the dual-arm impedance control.

关 键 词：双臂协调 空间双臂机器人 阻抗控制 目标抓捕 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]