双臂空间机器人闭链系统的协同柔顺控制策略研究  

Cooperative Compliance Control Strategy for Dual-Arm Space Robot with Closed-Chain System

作　　者：原劲鹏[1] 葛连正[2] 李德伦[1] YUAN Jinpeng;GE Lianzheng;LI Delun(Institute of Spacecraft System Engineering,China Academy of Space Technology,Beijing 100094,China;School of Mechatronics,Harbin Institute of Technology,Harbin 15000,China)

机构地区：[1]北京空间飞行器总体设计部,北京100094 [2]哈尔滨工业大学,哈尔滨150001

出　　处：《空间控制技术与应用》2023年第2期42-50,共9页Aerospace Control and Application

基　　金：国家重点研发项目资助(2018YFB1307100)。

摘　　要：双臂空间机器人对目标的协同操作具有负载能力大、定位精度高的特点,同时存在着闭链运动和控制力约束条件.本文以双臂六自由度空间机器人为研究对象,针对同一目标的搬运操作任务,建立了闭链系统的动力学模型.基于机器人和目标的虚切断铰接结构,以操作臂为刚性运动,协作臂为柔性运动的操作模式,分别设计了关节跟踪控制律和柔顺阻尼控制律.基于实例进行了运动仿真,验证了双臂协同控制算法的有效性.Dual-Arm space robot can manipulate cooperatively the target with the characters of Heavy-Load and high precision,which has the constraint conditions of closed-chain and control structure simultaneously.The closed-chain dynamics model is provided to achieve the target carry manipulation for dual-arm 6-DOF space robot in this paper.Based on the virtual cutoff hinge structure the manipulator arm adopts rigid motion mode,while the cooperative arm adopts compliance motion mode.The joint tracking algorithm and compliance control law are designed respectively.A numerical example of space manipulation verifies the effectiveness of the proposed method.

关 键 词：双臂空间机器人 闭链 操作臂 协作臂 柔顺控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]