Design and force-position-model fusion control of a hybrid active and passive cable cluster-driven hyper-redundant space manipulator
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.
on-orbit operation and controlspace manipulatorhybrid active and passive cable cluster-drivinghyper-redundant manipulatorforce-position-model fusion control
万方数据
