空间机器人捕获非合作目标后的消旋策略及阻抗控制

doi:10.13973/j.cnki.robot.170567

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王明明, 罗建军, 王嘉文, 袁建平. 空间机器人捕获非合作目标后的消旋策略及阻抗控制[J]. 机器人, 2018, 40(5): 750-761.DOI: 10.13973/j.cnki.robot.170567. WANG Mingming, LUO Jianjun, WANG Jiawen, YUAN Jianping. Detumbling Strategy and Impedance Control for Space Robot after Capturing an Uncooperative Satellite. ROBOT, 2018, 40(5): 750-761. DOI: 10.13973/j.cnki.robot.170567.

摘要针对空间机器人捕获自旋目标卫星后的消旋与稳定操作提出了一种阻抗控制方法．首先，基于正序链和逆序链方法推导出空间机器人系统在操作空间中的动力学方程．然后，基于归一化时间设计了目标卫星的快速消旋策略，最优消旋时间由末端执行器的约束条件决定．最后，基于所推导操作空间下的动力学方程，提出了一种消除目标旋转运动并同时稳定基座的阻抗控制方法．在利用7自由度冗余机械臂消除自旋卫星并稳定其基座的案例中给出了仿真结果，验证了所提方法的性能及有效性．

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关键词 ：空间机器人, 消旋策略, 阻抗控制, 冗余机械臂

Abstract：An impedance control framework is presented to detumble and stabilize the space robot after capturing a tumbling satellite. Firstly, the dynamics equation of the space robotic system in operational space is derived by employing inverse and forward chain approaches. Subsequently, a fast detumbling strategy using normalized time is designed, where the optimal detumbling time is determined with the imposed end-effector constraints. Finally, with the derived dynamics equation in operational space, an impedance control scheme is presented both for detumbling the target motion and stabilizing the base synchronously. Simulation results are presented for damping out a tumbling satellite and stabilizing the base using a 7 degree-of-freedom kinematically redundant space manipulator, which verifies the performance and effectiveness of the proposed method.

Key words： space robot detumbling strategy impedance control redundant manipulator

收稿日期: 2017-10-10 录用日期: 2018-01-04

V448.2

基金资助:深圳市未来产业专项资金（JCYJ20160531174213774）；国家自然科学基金（61603304，61690210，61690211）

通讯作者: 罗建军,jjluo@nwpu.edu.cn E-mail: jjluo@nwpu.edu.cn

作者简介: 王明明(1984-),男,博士.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.
王嘉文(1995-),男,学士.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.170567 或 https://robot.sia.cn/CN/Y2018/V40/I5/750

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