徐文福, 孟得山, 徐超, 梁斌. 自由漂浮空间机器人捕获目标的协调控制[J]. 机器人, 2013, 35(5): 559-567. DOI: 10.3724/SP.J.1218.2013.00559
引用本文: 徐文福, 孟得山, 徐超, 梁斌. 自由漂浮空间机器人捕获目标的协调控制[J]. 机器人, 2013, 35(5): 559-567. DOI: 10.3724/SP.J.1218.2013.00559
XU Wenfu, MENG Deshan, XU Chao, LIANG Bin. Coordinated Control of a Free-floating Space Robot for Capturing a Target[J]. ROBOT, 2013, 35(5): 559-567. DOI: 10.3724/SP.J.1218.2013.00559
Citation: XU Wenfu, MENG Deshan, XU Chao, LIANG Bin. Coordinated Control of a Free-floating Space Robot for Capturing a Target[J]. ROBOT, 2013, 35(5): 559-567. DOI: 10.3724/SP.J.1218.2013.00559

自由漂浮空间机器人捕获目标的协调控制

Coordinated Control of a Free-floating Space Robot for Capturing a Target

  • 摘要: 针对空间机器人目标捕获任务,为提高控制效率并节约燃料,提出了基座自由漂浮下由空间机械臂自身的控制实现机械臂与基座协调运动的方法.首先分析了自主捕获的典型控制任务类型,得出相应的控制目标及对机械臂自由度数的要求.然后,建立了基座自由运动和基座姿态稳定/调整下的目标抓捕、视觉监测、位置跟踪等不同需求下的微分运动学方程,并将这些方程表示为统一的运动学模型.基于此,采用分解运动速度控制方法实现各种任务下的控制目标.最后建立了仿真系统,对所提方法进行仿真验证.结果表明了方法的有效性.

     

    Abstract: Aiming at the target capturing task, in order to improve the control efficiency and save the fuel, some methods are proposed to realize the coordinated motion between the manipulator and its base under the free-floating mode, only using the control of the manipulator itself. Firstly, typical control tasks of autonomous target capturing are analyzed. Correspondingly, the control purpose and its requirement for the degrees of freedom of the manipulator are determined. Then, differential kinematics equations for target capturing, visual monitoring and position tracking missions are established under the free motion and attitude stabilization/adjustment of the base. These kinematics equations are expressed in a unified form, based on which resolved motion rate control methods are used to attain the control objectives. Finally, a simulation system is developed to verify the proposed methods. The simulation results demonstrate the effectiveness of the proposed methods.

     

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