| 引用本文: | 贺亮,王有峰,吴蕊,谢冉.空间机器人多臂精准协同控制技术[J].哈尔滨工业大学学报,2013,45(9):107.DOI:10.11918/j.issn.0367-6234.2013.09.019 |
| HE Liang,WANG Youfeng,WU Rui,XIE Ran.Precision synergy control technology for multi-arm space robots[J].Journal of Harbin Institute of Technology,2013,45(9):107.DOI:10.11918/j.issn.0367-6234.2013.09.019 |
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| 空间机器人多臂精准协同控制技术 |
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贺亮1,2, 王有峰1,2, 吴蕊1,2, 谢冉3
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(1.上海航天控制技术研究所,200233 上海; 2.上海市空间智能控制技术重点实验室, 200233 上海; 3.北京航空航天大学 宇航学院, 100191 北京)
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| 摘要: |
| 为了解决单臂空间机器人在轨服务任务中机械臂末端位姿控制精度有限的问题,提出了一种空间机器人多臂精准协同控制方法,该方法以3条7自由度机械臂的空间机器人(SR)为研究对象,利用Kane方法建立了具有通用性的SR动力学模型,该模型包括本体动力学方程与各条机械臂动力学方程两部分;在此基础上,基于李雅普诺夫稳定性理论,设计了SR捕获目标过程中机械臂各关节的轨迹跟踪控制律,克服了机械臂的运动抖动问题．仿真结果表明,该方法可保证机械臂末端按照期望的轨迹运动,并且能提高机械臂末端位姿控制精度． |
| 关键词: 在轨服务 空间机器人 协同控制 Kane方法 李雅普诺夫函数 |
| DOI：10.11918/j.issn.0367-6234.2013.09.019 |
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| 基金项目:国家自然科学基金资助项目（61374162）. |
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| Precision synergy control technology for multi-arm space robots |
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HE Liang1,2, WANG Youfeng1,2, WU Rui1,2, XIE Ran3
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(1.Shanghai Institute of Spaceflight Control Technology, 200233 Shanghai, China;2.Shanghai Key Laboratory of Aerospace Intelligent Control Technology, 200233 Shanghai, China;3. School of Aeronautics, Beihang University, 100191 Beijing, China)
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| Abstract: |
| To solve the problem that the manipulator of single-arm space robot has limited accuracy of positioning and attitude determination during on orbit servicing, a precision synergy control algorithm for multi-arm space robot was proposed. This method researched space robot (SR) with three arms each of them has seven degrees of freedom. The kinetic equations include the body and arms were built based on Kane method. Moreover, according to Lyapunov function, a trajectory tracking algorithm was designed for each arm to reduce motion jitter while capturing target. Simulation results show that the presented method can ensure the manipulators move along the desired paths and improve the position and attitude precision of manipulators. |
| Key words: on-orbit service space robot synergy control Kane method Lyapunov function
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