一种空间机器人双臂捕获卫星减撞柔顺控制方法  

A flexible collision mitigation method for the space robot dual-arm capture satellite

作　　者：曾晨东 陈力[1] ZENG Chendong;CHEN Li(College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]福州大学机械工程及自动化学院,福州350108

出　　处：《中国惯性技术学报》2020年第4期543-550,共8页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(11372073,11072061);福建工业机器人基础部件技术重大研发平台资助项目(2014H21010011)。

摘　　要：为避免空间机器人双臂捕获卫星过程关节遭受冲击破坏,提出在机械臂与关节电机间加入一种缓冲装置,其通过内置弹簧来吸收捕获碰撞过程卫星对空间机器人关节的冲击能量,并结合减撞柔顺控制策略来保证捕获后的镇定过程关节冲击力矩在安全范围内。利用拉格朗日方法得到了捕获操作前含缓冲装置双臂空间机器人系统及卫星系统的动力学模型;之后,基于冲量定理、系统运动关系及牛顿第三定律,得到了捕获操作后双臂空间机器人与卫星混合体系统综合动力学方程;最后,针对捕获操作后受碰撞影响失稳的混合体系统,提出了基于速度重构、不确定估计的减撞柔顺控制方案。所提出的方案将速度重构、不确定估计与控制器结合,优化了控制器对系统不确定非常敏感及速度测量不准确的问题。仿真结果表明,含缓冲装置空间机器人不仅能在捕获碰撞过程减小至少50.2%的关节冲击力矩,还能在镇定过程冲击能量过大时刻应时开、关关节电机,实现对关节的保护。In order to avoid the impact damage of the joint during the operation of the space robot dual-arm capture satellite,a buffer mechanism is adopted between the manipulator and the joint motor,which absorbs the impact energy of the captured satellite on the joint of the space robot by the internal spring,and the joint impact torque can be limited to a safe range through combining with the collision mitigation compliant control scheme.Firstly,the dynamic model of the dual-arm space robot system with buffer mechanism and the target satellite system before capture is obtained by the Lagrangian method.Then,based on the impulse theorem,the kinematic geometry relationship and Newton's third law,the integrated dynamic model of the combined system is obtained.Considering the post-capture unstable combined system,a collision mitigation and compliance control scheme based on velocity reconstruction and estimation of uncertainty is proposed.In the proposed scheme,the velocity reconstruction and estimation of uncertainty are combined with the controller to optimize the problem that the controller is sensitive to the uncertainty of the dynamic model and the velocity measurement is not accurate.The simulation results show that the dual-arm space robot with buffer mechanism can not only reduce the joint impact torque by 50.2%at least in the process of capturing collision,but also turn on and off the joint motor when the impact energy is too large in the process of stabilization,so as to protect the joint.

关 键 词：空间机器人 双臂捕获卫星操作 缓冲装置 速度重构 减撞柔顺控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]