空间机器人抓捕目标后基于任务相容性的消旋策略

doi:10.13973/j.cnki.robot.210328

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周逸群, 罗建军, 王明明. 空间机器人抓捕目标后基于任务相容性的消旋策略[J]. 机器人, 2023, 45(1): 1-15.DOI: 10.13973/j.cnki.robot.210328. ZHOU Yiqun, LUO Jianjun, WANG Mingming. Detumbling Strategy Based on Task Compatibility for Space Robot after Capturing a Target. ROBOT, 2023, 45(1): 1-15. DOI: 10.13973/j.cnki.robot.210328.

摘要针对双臂空间机器人抓捕自旋目标后的镇定操作,在考虑机器人系统输入约束的条件下,提出了一种基于任务相容性的消旋规划与控制方法。首先,给出空间机器人抓捕目标后的组合系统的动力学模型,作为规划与控制的基础。然后,根据动力学可操作度和任务相容性设计了目标的快速消旋策略,其期望加速度的方向和大小分别取作速度的反方向和机器人系统输入约束允许的最大值。最后,基于所推导的运动学和动力学模型,通过对目标和机械臂末端分别建立柔顺度等式,提出了一种跟踪期望运动轨迹同时对末端接触力进行调节的柔顺控制方法。通过双臂7自由度空间机器人消除目标自旋运动的仿真结果,验证了所提方法的有效性。

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关键词 ：双臂空间机器人, 消旋策略, 动力学可操作度, 任务相容性, 柔顺控制

Abstract：A detumbling planning and control method based on task compatibility considering the input constraint of robotic system is proposed to stabilize the dual-arm space robot after capturing a tumbling target. Firstly, the dynamic model of the combined system after the space robot captures the target is presented as the basis of planning and control. Subsequently, a fast detumbling strategy of the target is designed based on the dynamic manipulability and task compatibility, where the orientation and magnitude of the expected target acceleration are taken as the opposite of its velocity and the maximum allowed by the input constraint of robotic system respectively. Finally, a compliant control method is proposed based on the derived kinematic and dynamic models to track the desired trajectory and regulate the end-effector contact force by establishing compliance equations for the target and the end-effectors. The simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom dual-arm space robot, which demonstrate the effectiveness of the proposed method.

Key words： dual-arm space robot detumbling strategy dynamic manipulability task compatibility compliant control

收稿日期: 2021-07-20 录用日期: 2021-08-24

ZTFLH:

V448.2

基金资助:国家自然科学基金(61973256,61690211);深圳市科技研发资金(JCYJ20190806154412671);西北工业大学博士论文创新基金(CX202001).

通讯作者: 王明明, mwang@nwpu.edu.cn E-mail: mwang@nwpu.edu.cn

作者简介: 周逸群(1994-),男,硕士。研究领域:空间机器人在轨操控。
罗建军(1965-),男,博士,教授。研究领域:空天飞行器导航与制导。
王明明(1984-),男,博士,副教授。研究领域:空间机器人在轨操控。

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.210328 或 https://robot.sia.cn/CN/Y2023/V45/I1/1

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