自由漂浮空间机器人捕获翻滚目标的力-位-型融合控制方法  

Force-Position-Model Fusion Control of Free-floating Space Robots for Capturing Tumbling Targets

作　　者：梁斌[1,2] 徐文福 王学谦 闫磊 LIANG Bin;XU Wenfu;WANG Xueqian;YAN Lei(Department of Automation,Tsinghua University,Beijing 100084,China;Qiyuan Laboratory,Beijing 100095,China;School of Mechanical Engineering and Automation,Harbin Institute of Technology,Shenzhen 518055,China;Tsinghua Shenzhen International Graduate School,Tsinghua University,Shenzhen 518055,China)

机构地区：[1]清华大学自动化系,北京100084 [2]启元实验室,北京100095 [3]哈尔滨工业大学(深圳)机电工程与自动化学院,深圳518055 [4]深圳清华大学国际研究生院,深圳518055

出　　处：《宇航学报》2024年第6期958-969,共12页Journal of Astronautics

基　　金：国家自然科学基金(62203140,92248304)。

摘　　要：翻滚目标捕获过程中,空间机器人的运动会对基座产生扰动、接触过程的冲击碰撞容易产生安全风险。因此,为了在捕获翻滚目标的同时抑制空间机械臂对基座的扰动和对目标的碰撞冲击,提出一种自由漂浮空间机器人力-位-型融合控制方法。首先将自由漂浮空间机器人的非完整冗余性、运动冗余性表征为型空间,构建由末端位姿、型状态组合的广义状态空间并建立系统的运动学和动力学模型;通过优化基座与机械臂的位-型及零空间运动,减小机械臂抓捕运动在基座产生的扰动;通过优化基座、机械臂与翻滚目标的相对位-型,减小碰撞冲击力在基座产生的姿态扰动。给定最优位-型及末端操作力,基于阻抗控制原理及零空间投影策略,实现多优先级力-位-型融合控制。最后,开展了空间机器人捕获翻滚目标的典型任务仿真,结果表明通过力-位-型融合优化与控制方法可以有效减小空间机器人捕获过程产生的基座扰动。To capture a tumbling target in space,the space robots need to plan the motion of its end-effector,under the dynamics coupling constraint between the manipulator and the spacecraft base.Besides,as the relative velocity and motion mismatch between the end-effector and the target are unavoidable,the impact and resulting impulsive force will also bring an undesirable disturbance to the base.In order to decrease the base disturbance of space robots,a force-position-model fusion control(FPMFC)framework for space robots capturing tumbling targets is proposed.Firstly,the non-holonomic redundancy and motion redundancy of the free-floating space robot are represented as a position-model(PM)space.Therefore,a generalized state space is constructed,based on which the kinematics and dynamics model of the system are established.By optimizing the PM of the base and the manipulator,the disturbance resulted from capturing motion of the manipulator is reduced.Additionally,by optimizing the relative PM between the base,the manipulator and the target,the disturbance resulted from the impulsive force when making contact can be further decreased.Given the optimal PM and contact force,the force-position-model fusion control(FPMFC)framework is presented.Finally,the simulation results of several typical capturing tasks demonstrate the correctness and effectiveness of the proposed method.

关 键 词：在轨捕获 翻滚目标 空间机器人 多目标优化 力-位-型融合控制 

分 类 号：V476[航空宇航科学与技术—飞行器设计]