适合一类动目标插拔操作的机械臂变阻抗控制方法  

An Approach for Variable Impedance Control of Robotic Manipulators under a Class of Moving Target Peg-in-Hole Operations

作　　者：张玲俊 刘磊[1,2] 王勇 Zhang Lingjun;Liu Lei;Wang Yong(Beijing Institute of Control Engineering,Beijing 100190,China;Science and Technology on Space Intelligent Control Laboratory,Beijing 100190,China)

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术重点实验室,北京100190

出　　处：《航天控制》2021年第3期33-42,共10页Aerospace Control

摘　　要：以在轨服务空间机械臂执行一类动目标精细盲插拔操作为研究对象,针对机械臂末端与不确知动态变化插拔位置的柔顺跟随问题,提出了一种根据实际接触力与期望接触力的关系动态调整阻尼参数的变阻抗柔顺随动控制算法,实现了对不确知动态变化插拔位置的柔顺跟随。针对机械臂末端与插座底部接触后的反复碰撞问题,提出了一种根据碰撞次数实时改变惯性参数和阻尼参数的变阻抗稳定接触控制算法,实现了机械臂末端的快速稳定并保持在期望接触力范围之内。数学仿真和地面六自由度机械臂实验验证表明,与固定参数的阻抗控制相比,两种新算法分别能有效降低插拔目标动态变化给系统造成的两个不利影响,有助于顺利完成柔顺盲插拔操作任务。On-orbit servicing( OOS) of spacecraft involves a large number of mechanical insertion and extraction operations. In the case that random perturbations exist when a servicing satellite is not fully connected to a client/target satellite,there is an uncertain relative movement between the connector and the socket. Firstly,in order to cope with the compliant follow-up problem,a new compliant follow-up control method based on variable impedance control is proposed,which adjusts the damping parameter dynamically according to the relationship between the actual contact force and the expected contact force,and it realizes the compliant following to the dynamic uncertain moving socket. Secondly,in order to solve the problem of repeated collision on the bottom of the socket,a new stable contact control method based on variable impedance control is proposed. The algorithm changes the mass parameter and the damping parameter in real time according to the numbers of collisions,and achieves rapid stability of the manipulator after contacts with the socket. Finally,the experimental examples using a 6-DOF manipulator have demonstrated the effectiveness of the both approaches proposed.

关 键 词：在轨服务 变阻抗控制 盲插拔操作 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V19[自动化与计算机技术—控制科学与工程]