基于零空间饱和及高阶校正的双臂飞行机器人控制  

Dual-arm flying robot control based on saturation in null space and high-order correction

作　　者：黄宏杰 文浩[1] 廖璨 HUANG HongJie;WEN Hao;LIAO Can(State Key Laboratory of Mechanics and Control of Aerospace Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学航空航天结构力学及控制全国重点实验室,南京210016

出　　处：《中国科学:物理学、力学、天文学》2025年第2期134-145,共12页Scientia Sinica Physica,Mechanica & Astronomica

基　　金：“十四五”民用航天技术预先研究项目(编号:D010301)资助。

摘　　要：飞行机器人在轨操作研究多采用一臂抓一物或两臂抓一物的操作策略,并未发挥出双臂操作的效率优势.本文针对空间结构在轨组装任务中两臂同时抓两物的应用场景,开展飞行机器人约束运动控制研究.首先,基于广义雅可比矩阵法和动量守恒方程建立自由漂浮状态下双臂飞行机器人运动学方程.随后,利用机械臂与基体的耦合特性,基于高阶离散的速度校正(HDVC)方法和零空间饱和(SNS)方法,提出一种高精度的约束运动控制算法HDVC-SNS.该方法可以显著降低控制律离散误差,并通过关节速度限制保证机器人系统平稳运行.最后,通过多组数值仿真验证了HDVC-SNS算法的有效性.Research on the on-orbit operations of flying robots predominantly utilizes single-arm or dual-arm for grasping a singleobject, thereby neglecting the efficiency advantages inherent in dual-arm operations. This study investigates the scenariowhere a dual-arm flying robot simultaneously grasps two objects during on-orbit assembly tasks and explores constrainedmotion control methodologies for such systems. First, the kinematic equations of the dual-arm flying robot in a freefloating state are established based on the generalized Jacobian matrix method and the momentum conservation equation.Subsequently, leveraging the coupling dynamics between the manipulators and the base, a high-precision constrainedmotion control algorithm, termed HDVC-SNS, is proposed based on the high-order discretization velocity correction(HDVC) method and the saturation in the null space (SNS) method. This strategy substantially mitigates discretizationerrors of the control law and ensures the smooth operation of the robotic system by limiting joint velocities. Finally, theHDVC-SNS algorithm is verified by multiple sets of numerical simulations.

关 键 词：双臂飞行机器人 双目标抓取 高阶校正 零空间饱和 

分 类 号：V44[航空宇航科学与技术—飞行器设计] TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]