基于分布式控制系统的空间大型末端执行器抓捕策略

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介党阳, 倪风雷, 谭益松, 刘宏, 蔡鹤皋. 基于分布式控制系统的空间大型末端执行器抓捕策略[J]. 机器人, 2011, 33(4): 434-439.. JIE Dangyang, NI Fenglei, TAN Yisong, LIU Hong, CAI Hegao. Capture Strategy Based on a Distributed Control System for a Large-scale Space End-Effector. ROBOT, 2011, 33(4): 434-439..

摘要针对空间大型机械臂因其关节和臂杆柔性带来的抓捕前定位问题，为一种具有柔性捕获接口的新型末端执行器设计了分布式控制系统，并建立了以捕获环收缩速度为主要控制对象的抓捕策略，可实现稳定且高效的抓捕．其中，该控制系统由传感器单元、上层控制单元和3个模块化的底层驱动单元组成．传感器单元和底层驱动单元集成在末端执行器内部，采集系统的位置、力/力矩、电流及温度等传感器数据并实现伺服电机的底层驱动；上层控制单元通过高速总线可同时向3个底层驱动单元发送控制指令及控制参数，协调末端执行器执行抓捕、拖动及锁定操作．实验表明，基于该分布式控制系统，所提出的抓捕策略有效地提高了大型机械臂抓捕操作的可靠性．

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关键词 ：抓捕策略, 空间大型末端执行器, 分布式控制系统, 传感系统

Abstract：For the positioning problem of a large-scale space end-effector from the flexible joints and elastic beams before the capture operation,a distributed control system is proposed for a newly developed end-effector equipped with flexible capture interface.A capture-snare-speed-oriented strategy is established based on distributed control system;thus,a reliable and effective capture operation can be realized.The designed system is composed of a sensor unit,a top-level control unit,and three modularized bottom-level driving units.The sensor unit and the bottom-level driving unit are integrated inside the end-effector, and used to obtain the data of position,force/moment,current and temperature sensors and drive the servo motors of the system.The top-level control unit sends control commands and parameters synchronically to the three bottom-level driving units through a high-speed bus for coordinating the catching,dragging and latching operations of the end-effector. Experimental results show that,in support of the distributed control system,the reliability of the capture operation can be effectively improved by using the proposed strategy.

Key words： capture strategy large-scale space end-effector distributed control system sensor system

收稿日期: 2010-09-26 录用日期: 2011-03-08

ZTFLH:

TP241.3

基金资助:国家863计划资助项目（2006AA04Z228）

通讯作者: 介党阳 E-mail: jiedangyang@126.com

作者简介: 介党阳（1984- ），男，博士生．研究领域：空间机器人，空间大型机械臂技术．
倪风雷（1975- ），男，博士，讲师．研究领域：空间机器人，空间机械臂技术．
谭益松（1982- ），男，博士生．研究领域：空间机器人，空间站技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I4/434

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