空间双臂机器人抓捕自旋目标的后抓捕阶段稳定控制方法  

A Novel Strategy for Dual⁃arm Space Robots to Detumble Rotational Targets in Post⁃capturing Phase

作　　者：张海博[1,2] 詹博文 何英姿 魏春玲[1,2] ZHANG Haibo;ZHAN Bowen;HE Yingzi;WEI Chunling(Beijing Institute of Control Engineering,Beijing 100090,China;National Key Laboratory of Space Intelligent Control,Beijing 100090,China)

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术全国重点实验室,北京100190

出　　处：《载人航天》2024年第6期722-734,共13页Manned Spaceflight

基　　金：空间智能控制技术全国重点实验室基金(ZY0100170903070016)。

摘　　要：针对空间双臂机器人在轨抓捕自旋目标后的后抓捕阶段稳定问题,提出了一种考虑避障约束的协同稳定控制方法(CCFDS)。该方法由稳定过程的轨迹规划与空间双臂机器人协同控制组成:利用加速度势场法设计了一种复合体稳定轨迹规划算法,可在线生成速度级运动轨迹以引导空间双臂机器人与抓捕目标到达稳定状态,并利用空间机器人与障碍物之间的相对位置和相对速度作为输入信息,提高避障能力;根据空间双臂机器人与抓捕目标之间的闭链系统动力学模型,设计基于计算力矩法的协同控制器。仿真结果表明:在CCFDS方法作用下,空间双臂机器人在后抓捕阶段可持续减小抓捕目标的自旋动量;同时,在抓捕目标稳定过程中空间机械臂与周围障碍物的最短距离满足限制要求,验证了CCFDS方法的有效性。In this paper,a coordinated collision-free detumbling strategy(CCFDS)for dual-arm space robot was proposed to detumble rotational targets in the post-capturing phase.This method consisted the planning of the detumbling trajectory and the coordinate control of the dual-arm space robot.Based on the improved acceleration potential field(AccPF∗),a detumbling trajectory method was proposed,which could guide the space robot as well as the target to the terminal rest.In order to enhance its performance in collision avoidance,both the relative positions and the relative velocities between the space robot and obstacles were considered as inputs for this trajectory planning.Subsequently,by establishing the dynamic model of the closed-chain system in the post-capturing phase,a coordinated control scheme was designed to ensure the precise tracking of the planned trajectory.Simulation results showed that a dual-arm space robot with the CCFDS was able to decrease the momentum of a grasped target to zero and guaranteed collision avoidance between the robot and the nearby obstacle in the meantime,which validated the effectiveness of the CCFDS.

关 键 词：后抓捕阶段稳定控制 在轨抓捕 自旋目标 空间机器人 避障 协同控制 

分 类 号：V448[航空宇航科学与技术—飞行器设计]