基于连杆变换矩阵的空间机械臂运动误差分析及辨识  

Kinematic Errors Analysis and Parameters Identification of Space Manipulators Based on Link Transformations

作　　者：刘茜 孙军[2,3] 刘传凯 谢圆[2] 张宽 成子青[2] LIU Qian;SUN Jun;LIU Chuankai;XIE Yuan;ZHANG Kuan;CHENG Ziqing(Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China;Beijing Aerospace Control Center,Beijing 100094,China;Key Laboratory of Science and Technology on Aerospace Flight Dynamics,Beijing 100094,China)

机构地区：[1]中国科学院自动化研究所,北京100190 [2]北京航天飞行控制中心,北京100094 [3]航天飞行动力学技术重点实验室,北京100094

出　　处：《载人航天》2022年第6期711-719,共9页Manned Spaceflight

基　　金：国家自然科学基金(61972020,62003925);装备预研国防科技重点实验室基金(19NY1208,6142210200307);航天飞行动力学技术重点实验室基金(XTB6142210210302)。

摘　　要：针对空间机械臂由于太空重力释放和复杂在轨环境影响导致的运动学参数与地面重力环境下不一致的问题,提出了基于连杆变换矩阵的运动误差参数辨识方法。首先,获得了反映空间机械臂关节位姿误差与末端位姿误差之间映射关系的误差雅可比矩阵,开展了运动误差参数的可辨识性分析;然后,结合改进粒子群算法,考虑关节角度约束和碰撞规避等约束条件,设计了能够最大程度反映运动误差影响效果的最优机械臂辨识构型,对空间机械臂的运动误差参数进行辨识;最后,通过七自由度空间机械臂运动仿真验证了所提出方法的有效性。The kinematic parameters of space manipulator will be changed when launched into orbit due to micro-gravity and complicated orbit Environment.To study the kinematic characteristics of the space manipulator,a kinematic error parameters identification method based on the link transformation matrixes was proposed.First,the error Jacobian matrix was deduced to represent the relationship between joint errors and pose errors.Then the identifiability of the kinematic error parameters was analyzed the independent error parameters and the coupling error parameters were clearly separated.In addition,the criterion of the optimal identification configurations that could maximumly reflect the influences caused by joint errors was derived,and the kinematic error parameters were solved under those configurations.In the end,the proposed method was verified by the kinematic simulation of space robot with 7 degrees of freedom.

关 键 词：空间机械臂 关节连杆变换矩阵 运动误差分析 运动学参数辨识 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V417.6[自动化与计算机技术—控制科学与工程]