天宫二号机械手关键技术及在轨试验
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摘要
空间机械臂可以降低宇航员舱外活动风险,提高空间探索效率,具有广泛的应用前景.近年来随着机器人技术的发展,空间机械臂逐渐成为空间技术领域的热点研究方向.天宫二号空间实验室任务中的人机协同在轨维修科学试验是天宫二号三大关键试验任务之一,其核心是天宫二号机械臂系统.这是一套集成了多种传感器、具备多种控制模式的舱内空间机器人系统,包括6自由度机械臂、五指仿人灵巧手、手眼相机和全局相机、在轨人机接口(空间鼠标和数据手套)等模块,其设计目标是:在空间微重力环境下与航天员配合完成多种演示验证任务;对空间机器人关键技术以及在轨人机协同关键技术进行验证和评价;为空间机器人辅助或配合航天员开展在轨维修积累经验和数据.针对人机协同中的安全性问题,采用基于可变步长的轨迹规划方法,使机械臂在与周围环境发生接触时能够局部智能地调整其运动轨迹,达到减小或者消除碰撞力的目的;针对五指灵巧手的抓握控制问题,提出了基于目标物体笛卡尔刚度的协调抓握控制方法,以适应外力的变化达到稳定抓握的目的;针对数据手套与灵巧手之间的位姿映射问题,采用基于指尖位置的人手与五指灵巧手运动映射方法以达到精确位姿映射.天宫二号机械臂系统于2016年9月15日随天空二号空间实验室发射入轨.在10月27日到11月13日期间,宇航员与机械臂系统协同开展了动力学参数辨识、抓漂浮物体、与航天员握手、在轨维修等试验,成功完成了所有预定任务,为今后空间机器人的应用奠定了基础.
With the development of robotics in recent years, space robotic manipulators have become a research focus on space technologies. In the TianGong-2(TG-2) spacelab mission, a human-robot collaborative on-orbit servicing experiment was planned as one of the three key tasks. The central component of this task is the TG-2 robotic manipulator, which is a multisensory in-vehicle space robot with multiple control modes, including a 6-DOF robotic arm, a five-fingered humanoid hand, hand-eye and global cameras, and on-orbit human-machine interfaces(space mouse and cyber glove). The design purpose of TG-2 robotic task is to complete various prototypical experiments under micro-g environment to validate key technologies of space robots and on-orbit human-robot collaboration and gain experience and experimental data about robotic on-orbit servicing by assisting or cooperating with human astronauts. A variable time-scale motion plan method, which could adjusts the trajectories of the robot to reduce or eliminate the collision force between the robot collide with the environment, is developed for safe human-robot collaboration. The five-fingered hand grasp control is based on an approach coined as "coordinated grasp control based object Cartesian stiffness" for the adaptation of external forces and robust grasp. To solve the kinematic mapping from cyber glove commands to five-fingered robotic hand, a fingertip-position-based method is proposed to acquire precise solutions. The TG-2 robotic manipulator was launched to space in Sep.15, 2016. From Oct. 27 to Nov. 13, 2016, all the planned experiments, including dynamic parameter identification, grasping floating objects and prototypical on-orbit servicing, were carried out successfully under the supervision and assistance of the two astronauts,laying foundations for the future applications of space robots.
With the development of robotics in recent years, space robotic manipulators have become a research focus on space technologies. In the TianGong-2(TG-2) spacelab mission, a human-robot collaborative on-orbit servicing experiment was planned as one of the three key tasks. The central component of this task is the TG-2 robotic manipulator, which is a multisensory in-vehicle space robot with multiple control modes, including a 6-DOF robotic arm, a five-fingered humanoid hand, hand-eye and global cameras, and on-orbit human-machine interfaces(space mouse and cyber glove). The design purpose of TG-2 robotic task is to complete various prototypical experiments under micro-g environment to validate key technologies of space robots and on-orbit human-robot collaboration and gain experience and experimental data about robotic on-orbit servicing by assisting or cooperating with human astronauts. A variable time-scale motion plan method, which could adjusts the trajectories of the robot to reduce or eliminate the collision force between the robot collide with the environment, is developed for safe human-robot collaboration. The five-fingered hand grasp control is based on an approach coined as "coordinated grasp control based object Cartesian stiffness" for the adaptation of external forces and robust grasp. To solve the kinematic mapping from cyber glove commands to five-fingered robotic hand, a fingertip-position-based method is proposed to acquire precise solutions. The TG-2 robotic manipulator was launched to space in Sep.15, 2016. From Oct. 27 to Nov. 13, 2016, all the planned experiments, including dynamic parameter identification, grasping floating objects and prototypical on-orbit servicing, were carried out successfully under the supervision and assistance of the two astronauts,laying foundations for the future applications of space robots.
引文
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2 Floresabad A,Ma O,Pham K,et al.A review of space robotics technologies for on-orbit servicing.Prog Aerosp Sci,2014:1-26
3 Sato N,Wakabayashi Y.JEMRMS design features and topics from testing.In:6th International Symposium on Artificial Intelligence,Robotics and Automation in Space(ISAIRAS).Quebec,2001
4 Diftler M A,Mehling J,Abdallah M E,et al.Robonaut 2-The first humanoid robot in space.In:2011 IEEE International Conference on Robotics and Automation(ICRA).IEEE,2011.2178-2183
5 Tzvetkova G V.Robonaut 2:Mission,technologies,perspectives.J Theor Appl Mech,2014,44:97-102
6 Ahlstrom T,Curtis A,Diftler M,et al.Robonaut 2 on the international space station:Status update and preparations for IVA mobility.Aiaa Space Conference and Exposition,2013,35:211-220
7 Bridgwater L B,Ihrke C,Diftler M A,et al.The robonaut 2 hand-designed to do work with tools.In:2012 IEEE International Conference on Robotics and Automation(ICRA).IEEE,2012.3425-3430
8刘宏,蒋再男,刘页超.空间机械臂技术发展综述.载人航天,2015,21:435-443
9 Liu H,Meusel P,Seitz N,et al.The modular multisensory DLR-HIT-Hand.Mechanism Machine Theor,2007,42:612-625
10 Liu H,Wu K,Meusel P,et al.Multisensory five-finger dexterous hand:The DLR/HIT Hand II.In:2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.IEEE,2008
11刘页超,夏进军,倪风雷,等.中国专利,201410264716.2,2014
12何平.基于物体阻抗的机器人灵巧手控制.博士学位论文.哈尔滨:哈尔滨工业大学,2004
13胡海鹰.HIT/DLR机器人灵巧手遥操作系统的研究.博士学位论文.哈尔滨:哈尔滨工业大学,2006