适用于空间机械臂接触作业的自适应阻抗控制  

Space Manipulator Adaptive Impedance Control for Contacting Task

作　　者：杨仓军 王稳[2] 陆星 裴红蕾[3] YANG Cangjun;WANG Wen;LU Xing;PEI Honglei(Suqian Technician Institute,Jiangsu Suqian 223800,China;Suzhou Chien-Shiung Institute of Technology,Jiangsu Taicang 215411,China;Wuxi Vocational Institute of Arts&Technology,Jiangsu Yixing 214200,China)

机构地区：[1]宿迁技师学院,江苏宿迁223800 [2]苏州健雄职业技术学院,江苏太仓215411 [3]无锡工艺职业技术学院,江苏宜兴214200

出　　处：《机械设计与制造》2025年第3期288-292,共5页Machinery Design & Manufacture

基　　金：全国高等院校计算机基础教育研究项目(2020-AFCEC-339)。

摘　　要：针对空间机械臂阻抗控制参数未知且时变的难题,提出了基于精英中心启发蜂群算法的阻抗参数自适应匹配和优化方法。建立了空间机械臂动力学模型,分析了阻抗控制存在参数未知和时变的难题。以机械臂末端位移和接触力误差最小为目标,建立了参数匹配目标函数。将阻抗参数编码为蜜蜂位置,使用人工蜂群算法进行参数匹配和优化。针对人工蜂群算法搜索效率低、开发能力弱的问题,在算法中引入了精英中心启发策略,提出了精英中心启发蜂群算法的阻抗参数匹配方法,实现了空间机械臂的自适应阻抗控制。经仿真验证,自适应阻抗控制的稳态误差、峰值误差、调节时间均优于蜂群优化阻抗控制、传统阻抗控制,说明了自适应阻抗控制在空间机械臂控制中具有最好的稳态性能和动态性能。实验结果验证了自适应阻抗控制在空间机械臂控制中的有效性和优越性。Aiming at the problem of unknown and time-varying impedance control parameters of space manipulator,an adaptive matching and optimization method of impedance parameters based on elite center heuristic bee colony algorithm is proposed.The dynamic model of space manipulator is established,and the problems of unknown parameters and time-varying impedance control are analyzed.Aiming at minimizing the errors of manipulator end displacement and contact force,the parameter matching objective function is established.The impedance parameters are encoded as bee position,and the artificial bee colony algorithm is used for parameter matching and optimization.Aiming at the problems of low search efficiency and weak development ability of artificial bee colony algorithm,the elite center heuristic strategy is introduced into the algorithm,and the impedance parameter matching method of elite center heuristic bee colony algorithm is proposed to realize the adaptive impedance control of space manipulator.The simulation results show that the steady-state error,peak error and adjustment time of adaptive impedance control are better than bee colony optimization impedance control and traditional impedance control,which shows that steady-state performance and dynamic performance of adaptive impedance control in space manipulator control is the best.The experimental results verify the effectiveness and superiority of adaptive impedance control in space manipulator control.

关 键 词：空间机械臂 自适应阻抗控制 参数自适应匹配 精英中心启发策略 人工蜂群算法 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]