基于轴不变量的空间机械臂多臂协同灵巧操作控制策略研究  

Control Strategy for Multi-Arm Cooperative Dexterous Operation of Space Robotic Arms Based on Axis Invariant Theory

作　　者：王海明[1] 曾鸿[1] 于兆吉 罗鹰[1] 居鹤华 韩建斌[1] 张玉梅[1] 王玉超 WANG Haiming;ZENG Hong;YU Zhaoji;LUO Ying;JU Hehua;HAN Jianbin;ZHANG Yumei;WANG Yuchao(DFH Satellite Co.,Ltd.,Beijing 100094,China;Nanjing University of Aerospace and Astronautics,Nanjing 210016,China)

机构地区：[1]航天东方红卫星有限公司,北京100094 [2]南京航空航天大学,南京210016

出　　处：《空间控制技术与应用》2022年第3期78-83,共6页Aerospace Control and Application

基　　金：国家自然科学基金资助项目(61673010)。

摘　　要：面向未来航天器在轨组装与维修等需求,针对空间大型航天器,设计了一套多航天器多臂协同操作系统.在此基础上,开展了基于轴不变量机械臂动力学模型研究,并设计了模糊变结构控制器,为多臂协同操作提供了控制策略.在对机械臂原理样机的工程D-H参数进行测量后,导入开发的多体动力学仿真系统中,对多臂协同操作过程开展了动力学仿真与测试,从而验证了多航天器多臂协同操作系统的可行性,为未来的在轨组装与维修任务奠定了技术基础.Owing to the future demands of on-orbit assembly and repair tasks,a set of multi-spacecraft cooperative operation systems composed of information-processing satellite,operation satellite,and maintenance satellite for the operation of large targets in space is simulated in this study.In addition,a configuration design for each satellite in combination with on-orbit operation task planning is conducted.The dynamic model of a manipulator based on Ju-Kane theory is studied,and a fuzzy variable structure controller is designed,which provides a control strategy for multi-arm cooperative operation.After measuring the Denavit–Hartenberg engineering parameters of the robotic arm principle prototype,it is introduced into the developed multi-body dynamic simulation system to conduct the dynamic simulation and test of the multi-arm cooperative operation process.Therefore,the feasibility of the multi-spacecraft cooperative operation system is verified,and a technical foundation is laid for future studies on invalid target on-orbit operation tasks.

关 键 词：在轨组装 空间机械臂 多臂协同 灵巧操作 控制策略 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]