基于动力学前馈的空间机器人多销孔装配力柔顺控制
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摘要
多组销孔对接并固定是空间站舱外可移动仪器设备的最常用安装方式,其中多组销孔的自动对接是空间服务机器人能否代替航天员完成这一任务的关键。针对这一问题,首先对多销孔配合结构的特殊受力情况进行分析,提出适合的力柔顺控制方法,并针对微重力环境下机器人控制所面临的特殊问题,采用基于动力学前馈的控制方法,直接对关节进行力矩补偿,再基于所建立的机器人关节的数学模型,对前馈算法的补偿量进一步映射到电机电流环,从而进一步加快关节响应速度,保证力柔顺装配效果,最后分别针对所提出的力柔顺装配方法和前馈算法进行了模拟微重力试验和仿真试验,试验验证了所提出的针对空间多销孔对接的力柔顺装配控制方法的有效性。该方法为空间服务机器人安全完成舱外仪器设备安装任务提供了技术支撑,并可为空间服务机器人其他任务的安全稳定控制提供借鉴。
Multi-peg-in-hole assembling and immobilization is the most commonly installation function of extravehicular mobile equipment, and the automatic docking is the key of Space robots replacing astronauts. Focusing on this problem, this paper analyses the special stress condition of multi-peg-in-hole structure, and proposes a suitable force compliance method. Then focusing on the special problem of robot control which is brought by micro-gravity environment, this paper uses a control method based on dynamics feedforward, and compensating the joint torque directly. Also it builds a mathematic model and mapping compensation value to current circle of motors, to speed up the response rate of robot joints, at last, the simulation experiments and micro-gravity experiments are presented to verify the effectiveness of proposed force compliance method. This method provides the basic technology of extravehicular mobile equipment assembling task for space robot, and also provides inspiring for other steady control manipulations of space robot.
Multi-peg-in-hole assembling and immobilization is the most commonly installation function of extravehicular mobile equipment, and the automatic docking is the key of Space robots replacing astronauts. Focusing on this problem, this paper analyses the special stress condition of multi-peg-in-hole structure, and proposes a suitable force compliance method. Then focusing on the special problem of robot control which is brought by micro-gravity environment, this paper uses a control method based on dynamics feedforward, and compensating the joint torque directly. Also it builds a mathematic model and mapping compensation value to current circle of motors, to speed up the response rate of robot joints, at last, the simulation experiments and micro-gravity experiments are presented to verify the effectiveness of proposed force compliance method. This method provides the basic technology of extravehicular mobile equipment assembling task for space robot, and also provides inspiring for other steady control manipulations of space robot.
引文
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[10]谢立敏,陈力.漂浮基柔性关节、柔性臂空间机器人动力学建模、饱和鲁棒模糊滑膜控制及双重柔性振动主动抑制[J].机械工程学报,2015,51(1):76-82.XIE Limin,CHEN Li.Modeling,saturation robust Fuzzy sliding control and vibration suppression of free-floating flexible-joint flexible-link space robot[J].Journal of Mechanical Engineering 2015,51(1):76-82.
[2]CUCINOTTA F A,KIM M H Y,WILLINGHAM V,et al.Physical and biological organ dosimetry analysis for international space station astronauts[J].Radiation Research,2008,170(1):127-138.
[3]KERN V D,BHATTACHARYA S,BOWMAN R N,et al,Life sciences flight hardware development for the international space station[J].Adv.Space Res.,2001,27(5):1023-1030.
[4]胡其彪.空间可伸展结构的设计与动力学分析研究[D].杭州:浙江大学,2001HU Qibiao.Structure design and kinematic and dynamic analysis research for spatial deployable structures[D].Hangzhou:Zhejiang University,2001.
[5]FLORES-ABAD A,MA O,PHAM K,et al.A review of space robotics technologies for on-orbit servicing[J].Progress in Aerospace Sciences,2014,68:1-26.
[6]STOLL E,JAEKEL S,KATZ J,et al.SPHERESinteract-human-machine interaction aboard the international space station[J].Journal of Field Robotics,2012,29(4):554-575.
[7]LI H,CECCARELLI M,HUANG Q,et al.Problems and requirements for a chameleon-like service robot in space station[C]//Advanced Intelligent Mechatronics(AIM),2011 IEEE/ASME International Conference on.IEEE,2011:463-468.
[8]于秀丽,魏世民,廖启征.仿人机器人发展及其技术探索[J].机械工程学报,2009,45(3):71-75.YU Xiuli,WEI Shimin,LIAO Qizheng.Development and technology research of humanoid robot[J].Journal of Mechanical Engineering 2009,45(3):71-75.
[9]董楸煌,陈力.双臂空间机器人捕获非合作目标冲击效应分析及闭链混合系统力/位形鲁棒镇定控制[J].机械工程学报,2015,51(9):37-44.DONG Qiuhuang,CHEN Li.Impact effect analysis of dual-arm space robot capturing a non-cooperative target and force/position robust stabilization control for closed-chain hybrid system[J].Journal of Mechanical Engineering 2015,51(9):37-44.
[10]谢立敏,陈力.漂浮基柔性关节、柔性臂空间机器人动力学建模、饱和鲁棒模糊滑膜控制及双重柔性振动主动抑制[J].机械工程学报,2015,51(1):76-82.XIE Limin,CHEN Li.Modeling,saturation robust Fuzzy sliding control and vibration suppression of free-floating flexible-joint flexible-link space robot[J].Journal of Mechanical Engineering 2015,51(1):76-82.