This paper proposes a hybrid active and passive cable cluster-driven hyper-redundant space manipulator and its force-position-model fusion control(FPMFC)method,optimized for operations in narrow-constrained environments.The hybrid driving principle combines active driving of discrete arm segments with passive driving within each single segment.Utilizing this principle,a cable cluster-driven space manipulator system is designed,analyzing the"length-tension"relationship and motion redundancy.The system accounts for the nonholonomic redundancy of a free-floating space robot,manipulator motion redundancy,and the variable stiffness characteristics of the cable cluster-driven mechanism,all represented in a unified"model"space.Consequently,composite kinematic and static models are established.The FPMFC method features multiobjective collaborative control in a generalized task space,resolved motion control of arm segments,and a hybrid cable length/tension control of driving elements.By combining the unidirectional driving constraint of cables with the infinite distribution solution of cable tension,the system achieves the desired end-effector force,pose,and manipulator"model"parameters,avoiding cable slack or breakage.Finally,a prototype was developed,and several typical experiments,such as multiobstacle avoidance and target reaching in narrow spaces,were conducted.The results validate the dexterous operation performance of the space manipulator and the effectiveness of the proposed FPMFC method.
关键词
在轨操控/空间机械臂/绳簇主被动混合驱动/超冗余机械臂/力-位-型融合控制
Key words
on-orbit operation and control/space manipulator/hybrid active and passive cable cluster-driving/hyper-redundant manipulator/force-position-model fusion control
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