Design of the Gravity Compensation Control System in the Vertical Direction on the Ground for Space Manipulator
XU Yongli1,2, LI Xiaonan1,2,3, LIU Yong1,2, YANG Mingyi1,2, LIU Mingyang1,2
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China; 3. University of Chinese Academy of Sciences, Beijing 100049, China
徐永利, 李潇男, 刘勇, 杨明毅, 刘明洋. 空间机械臂地面竖直方向重力补偿控制系统设计[J]. 机器人, 2020, 42(2): 191-198.DOI: 10.13973/j.cnki.robot.190042.
XU Yongli, LI Xiaonan, LIU Yong, YANG Mingyi, LIU Mingyang. Design of the Gravity Compensation Control System in the Vertical Direction on the Ground for Space Manipulator. ROBOT, 2020, 42(2): 191-198. DOI: 10.13973/j.cnki.robot.190042.
Abstract：In order to solve the problem of ground microgravity simulation experiment of large space manipulator, a three-dimensional active suspension gravity compensation system is designed. The system is mainly composed of a horizontal two-dimensional linear motion unit and a vertical gravity balance suspension unit. The microgravity simulation is realized by the idea of constant tension control in the vertical direction. The mathematical model of the servo motor with load is given. A hybrid force/position control method based on fuzzy PID (proportional-integral-differential) parameter tuning is proposed. The control performance of the controller with unknown load and system interference under the different motion speeds of the manipulator is studied. The simulation results show that the control method can keep the gravity compensation accuracy within 0.3%F.S (full scale), and the system has strong robustness and dynamic response capability.
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