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考虑基座振动抑制的双空间机械臂协同阻抗控制

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针对柔性基座双空间机械臂紧耦合协同过程中面临的对物体内/外力的柔顺响应、基座的振动抑制以及双臂避碰等问题,提出了一种反作用最优协同阻抗控制方法.首先建立了柔性基座双空间机械臂的紧耦合系统模型.然后,利用物体级阻抗控制器和末端执行器级阻抗控制器分别实现了双空间机械臂对物体所受外力和内力的柔顺响应.然后,利用基座能量衰减最优控制和人工势场法得到了双空间机械臂的最优零空间自运动向量,通过双冗余空间机械臂的零空间自运动同时实现了基座振动抑制和双臂间的避碰.最后,在动力学仿真软件中验证了协同阻抗控制方法在解决物体内/外力柔顺响应、基座振动抑制、双臂避碰问题上的有效性.
Collaborative Impedance Control of Dual-arm Space Manipulator Considering Vibration Suppression of Base
An optimal reaction cooperative impedance control method is proposed for the compliant response to the internal/external force of the object,vibration suppression of the base,and collision avoidance of the two arms,which are faced during the tightly-coupled cooperative operation of the flexible based dual-arm space manipulator.Firstly,a system model of the tightly-coupled flexible based dual-arm space manipulator is established.Then,the compliant response to the external and internal forces applied to the object is realized by using an object-level impedance controller and an end-effector-level impedance controller,respectively.Then,the optimal self-motion vector in the null space of the dual-arm space manipulator is obtained by using the optimal control of the base energy dissipation and the artificial potential field method.The vibration suppression of the base and the collision avoidance between the two manipulators are realized simultaneously through the null space self-motion of the redundant space manipulator.Finally,the effectiveness of the cooperative impedance control method in solving the compliant response of internal/external force of the object,vibration suppression of the base,and dual-manipulator collision avoidance problems is verified in the dynamics simulation software.

Dual-arm space manipulatorFlexible baseImpedance controlVibration suppressionArtificial potential field

张家维、白成超、郭继峰

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哈尔滨工业大学航天学院,哈尔滨 150001

双空间机械臂 柔性基座 阻抗控制 振动抑制 人工势场

中国科协青年人才托举工程黑龙江省自然科学基金优秀青年基金思源联盟开放基金中央高校基本科研业务费专项

2021QNRC001YQ2022F012HTKJ2022KL012003HIT.OCEF.2023010

2024

10.3873/j.issn.1000-1328.2024.07.012

宇航学报
中国宇航学会

宇航学报

CSTPCD北大核心
影响因子：0.887
ISSN：1000-1328
年,卷(期)：2024.45(7)
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