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空间机器人捕获漂浮目标时,机械臂手部与目标之间不可避免地发生频繁的接触碰撞,严重影响空间机器人本体的位姿与抓取安全。本文引入了“动态抓取域”描述机械臂抓取目标时的碰撞过程,建立了抓取域控制方程,并分析了抓取控制参数及基体和目标质量等对抓取过程的影响,结合生活经验发现当速度控制参数与调配增益系数乘积接近并小于最小抓取速度时,能够极大的减小抓取过程中的碰撞冲击,进而给出了理想的抓取策略。结果表明:在相同抓取时间下,应用抓取策略明显优于加速抓取,碰撞力幅值降低到加速抓取时的20%左右,且姿态控制力矩仅为加速抓取的15%,对空间机器人的激振冲击明显消除。抓取策略的研究对空间机器人的捕获抓取有着重要的理论价值及工程实际意义。
When the space robot captures the floating target, frequent contact collisions between the hand and the target of the robot inevitably occur, which seriously affects the posture and gripping safety of the space robot body. In this paper, we introduced the “dynamic crawling domain” to describe the collision process when the robot arm grabbed the target, and established the control equation of crawling domain, and analyzed the influence of crawling control parameters and the matrix and target quality on the crawling process, According to the experience of life, it is found that when the product of speed control parameter and deployment gain coefficient is close to and less than the minimum grab speed, the collision impact during grab can be greatly reduced, and the ideal grab strategy is given. The results show that under the same crawling time, the grabbing strategy is obviously better than the accelerated catching, the amplitude of the impact force is reduced to about 20% of the speed of grabbing, and the attitude control moment is only 15% Exciting shock of space robot is obviously eliminated. The research on crawling strategy has important theoretical value and engineering practical significance for the capture and grasping of space robots.