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提出了动态抓取域用于空间机器人捕获漂浮目标的抓取控制。空间机器人捕获漂浮目标时,由于机械臂与基体的动力学耦合、抓取时的碰撞激振等非线性特性使得抓取控制变得复杂而重要。首先建立了空间机器人及漂浮目标的动力学模型,而后引入了末端装置抓取目标时的碰撞模型,并提出了“动态抓取域”用于机械臂抓取目标时的控制,同时应用关节主动阻尼控制,以减小抓取碰撞激振对空间机器人冲击的影响。结果表明:在相同抓取时间下,加速抓取明显优于匀速抓取,碰撞力振幅减小至匀速抓取时的20%,对空间机器人的激振冲击明显消除,仅在抓取结束前有小幅激振。这对空间机器人的抓取控制有着重要的理论价值及工程实际意义。
A dynamic grasping domain is proposed for grasping and controlling the space robot to capture the floating target. When the space robot captures the floating target, it is important that the grab control is complicated due to the nonlinear coupling between the mechanical coupling of the manipulator and the base and the collision excitation during gripping. Firstly, the dynamic model of the space robot and the floating target is established, and then the collision model of the target device is introduced, and the control of the “dynamic grasping domain” is proposed when the robot grasps the target. At the same time, the application Joint active damping control, in order to reduce the collision impact of crawling impact on space robot impact. The results show that under the same grabbing time, the acceleration grabbing is obviously better than the uniform grabbing, the amplitude of the impact force is reduced to 20% of the uniform grabbing, and the excitement impact on the space robot is obviously eliminated. A slight vibration. This control of space robots has important theoretical value and practical significance.