基于力柔顺性的航天对接半物理仿真  

Semi-physical Simulation of Space Docking Based on Force Compliance

作　　者：罗睿 赵英杰 金辉 刘明洋[2,3] 贺云 LUO Rui;ZHAO Yingjie;JIN Hui;LIU Mingyang;HE Yun(School of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110136,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110169,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]沈阳化工大学信息工程学院,辽宁沈阳110136 [2]中国科学院沈阳自动化研究所,辽宁沈阳110169 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169

出　　处：《机器人》2024年第3期330-338,共9页Robot

基　　金：机器人学国家重点实验室重点项目(2023-Z17)。

摘　　要：针对6自由度空间对接的半物理仿真中存在的动态响应慢、精度差等问题,提出了基于力柔顺性的串联机器人对接半物理仿真技术。采用重力补偿与导纳控制结合的方法,通过机器人与数学模型相结合的方式模拟真实柔顺对接运动,引入驱动延迟补偿来提高系统性能,满足精度高、自由度高、传感器融合好、动态响应快速等性能要求。实验结果表明,所提出的方法提高了机器人感知外部作用力的精确度,同时提高了力随动柔顺对接过程的动态响应速度与对接精度。Aiming at the slow dynamic response and poor accuracy in the six-degree-of-freedom spatial docking semiphysical simulation,a force-compliance-based semi-physical simulation technology for series robot docking is proposed.The gravity compensation and the admittance control are integrated to simulate the real compliant docking motion by combining the robot and the mathematical model.The drive delay compensation is invoked to improve the system performance to meet the requirements of high accuracy,high degree of freedom,good sensor fusion,and fast dynamic response.The experimental results show that the proposed method enhances the external force perception accuracy of the robot,and at the same time improves the dynamic response speed and docking accuracy of the force-following compliant docking process.

关 键 词：串联机器人 半物理仿真 重力补偿 驱动延迟补偿 导纳控制 

分 类 号：V526[航空宇航科学与技术—人机与环境工程] TP391.9[自动化与计算机技术—计算机应用技术]