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空间机器人双臂捕获航天器操作的无源自抗扰避撞从顺控制

艾海平 陈力

艾海平, 陈力. 空间机器人双臂捕获航天器操作的无源自抗扰避撞从顺控制[J]. 空间科学学报, 2020, 40(4): 584-594. doi: 10.11728/cjss2020.04.584
引用本文: 艾海平, 陈力. 空间机器人双臂捕获航天器操作的无源自抗扰避撞从顺控制[J]. 空间科学学报, 2020, 40(4): 584-594. doi: 10.11728/cjss2020.04.584
AI Haiping, CHEN Li. Passivity Active Disturbance Rejection Collision Avoidance Compliant Control of Dual-arm Space Robot Capture Spacecraft[J]. Chinese Journal of Space Science, 2020, 40(4): 584-594. doi: 10.11728/cjss2020.04.584
Citation: AI Haiping, CHEN Li. Passivity Active Disturbance Rejection Collision Avoidance Compliant Control of Dual-arm Space Robot Capture Spacecraft[J]. Chinese Journal of Space Science, 2020, 40(4): 584-594. doi: 10.11728/cjss2020.04.584

空间机器人双臂捕获航天器操作的无源自抗扰避撞从顺控制

doi: 10.11728/cjss2020.04.584
基金项目: 

国家自然科学基金项目(11372073,11072061)和福建省工业机器人基础部件技术重大研发平台项目(2014H21010011)共同资助

详细信息
    作者简介:

    艾海平,E-mail:ahpwuhan@163.com.

    通讯作者:

    陈力,E-mail:chnle@fzu.edu.cn

  • 中图分类号: V42;TP241

Passivity Active Disturbance Rejection Collision Avoidance Compliant Control of Dual-arm Space Robot Capture Spacecraft

  • 摘要: 针对空间机器人双臂捕获非合作航天器过程中避免关节受冲击破坏的避撞从顺控制问题,在机械臂与关节电机之间设计了一种由旋转型串联弹性执行器(RSEA)构成的弹簧缓冲装置.通过缓冲弹簧变形来吸收捕获碰撞阶段产生的冲击能量,并采用合理的避撞从顺控制策略,保证镇定运动阶段关节受到的冲击力矩限制在安全范围内.应用拉格朗日方法及牛顿elax-elax欧拉法,分别建立捕获前双臂空间机器人开环系统及航天器系统动力学模型;结合冲量定理、闭链系统位置及运动学关系,得到捕获操作后两者所构成闭链混合体系统的动力学模型.为实现失稳混合体系统的镇定,提出了一种基于无源性理论的自抗扰避撞从顺控制方案.此外,运用最小权值范数法对机械臂各关节力矩进行分配,保证了各臂协调操作.通过数值模拟,验证了缓冲装置的抗冲击性能及控制策略的有效性.

     

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出版历程
  • 收稿日期:  2019-05-20
  • 修回日期:  2019-07-27
  • 刊出日期:  2020-07-15

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