空间机械臂关节故障引起速度突变的抑制
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摘要
针对空间机械臂关节发生故障后的末端速度突变问题,提出一种基于退化雅克比矩阵的突变抑制方法。首先利用旋量理论建立空间机械臂的通用运动学模型,然后通过重构数学模型和调整控制模型与运行参数,引入补偿项,实现模型重构和在线调整中的平滑特性。并且开展了机械臂正常运行、故障运行和故障后抑制运行这三种工况下的控制仿真。结果表明,此方法对于实现单关节故障状态下机械臂末端速度突变抑制是有效的,对提高任务完成的连续性能力和降低故障影响具有重要的在轨应用意义。
Aiming at the problem of velocity mutation caused by joint failure,one method to suppress velocity mutation based on degradation Jacobian matrix is proposed. The universal kinematic model of the space robot arm is established by using screw theory,and then the compensation term is deduced by the reconstruction of the mathematical model and the adjustment of the operation parameters to realize the smoothing properties in model reconstruction and on-line adjustment.In this paper the simulationincluding three cases such as normal case,failure case and mutation suppression after failure is presented. The simulation results illustrate the validity of the proposed method. It's very important for the success of the task and lowering failure influence to research velocity mutation suppression method.
Aiming at the problem of velocity mutation caused by joint failure,one method to suppress velocity mutation based on degradation Jacobian matrix is proposed. The universal kinematic model of the space robot arm is established by using screw theory,and then the compensation term is deduced by the reconstruction of the mathematical model and the adjustment of the operation parameters to realize the smoothing properties in model reconstruction and on-line adjustment.In this paper the simulationincluding three cases such as normal case,failure case and mutation suppression after failure is presented. The simulation results illustrate the validity of the proposed method. It's very important for the success of the task and lowering failure influence to research velocity mutation suppression method.
引文
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[9]赵京,荆红梅,张雷.两机械臂协调操作的容错运动规划[J].机械工程学报,2004,40(12):172-176.[Zhao Jing,Jing Hong-mei,Zhang Lei.Fault tolerant motion planning for two coordinating manipulators[J].Chinese Journal of Mechanical Engineering,2004,40(12):172-176.]
[10]李君.基于旋量理论的Stanford臂的运动学分析[J].天津科技大学学报,2010,25(4):72-75.[Li Jun.Kinematics analysis on Stanford arm based on screw theory[J].Journal of Tianjin University of Science and Technology,2010,25(4):72-75.]
[11]洪昭斌,陈力.漂浮基柔性空间机械臂基于奇异摄动法的模糊控制和柔性振动主动控制[J].机械工程学报,2010,46(7):35-41.[Hong Zhao-bin,Chen Li.Active vibration control and fuzzy control of free-floating space flexible manipulator based on singular perturbation theory[J].Journal of Mechanical Engineering,2010,46(7):35-41.]
[2]Roberts R G,Yu H G,Maciejewski A A.Fundamental limitations on designing optimally fault-tolerant redundant manipulators[J].IEEE Transactions on Robotics,2008,24(5):1224-1237.
[3]佘宇.冗余机械臂单关节故障下的建模与容错控制研究[D].哈尔滨:哈尔滨工业大学,2013.[She Yu.Research on modeling and fault-tolerant control of redundant robot under single joint failure[D].Harbin:Harbin Institute of Technology,2013.]
[4]Chen Y,Mc Inroy J E,Yi Y.Optimal,fault-tolerant mappings to achieve secondary goals without compromising primary performance[J].IEEE Transactions on Robotics and Automation,2013,19(4):680-691.
[5]陈钢,张龙,贾庆轩,等.基于主任务零空间的空间机械臂重复运动规划[J].宇航学报,2013,34(8):1063-1071.[Chen Gang,Zhang Long,Jia Qing-xuan,et al.Repetitive motion planning for space manipulator based on null space of primary task[J].Journal of Astronautics,2013,34(8):1063-1071.]
[6]田军霞,赵京.冗余度机械臂容错操作中速度突变的影响因素分析[J].机械科学与技术,2005,24(3):371-374.[Tian Jun-xia,Zhao Jing.Analysis of the influence factors on velocity sudden-change in fault-tolerant operation for redundant manipulators[J].Mechanical Science and Technology,2005,24(3):371-374.]
[7]周军,焦建民,周凤岐.故障容错机械臂运动学可靠性设计[J].宇航学报,2004,25(2):187-194.[Zhou Jun,Jiao Jian-min,Zhou Feng-qi.Reconfigurable fault tolerant space manipulator design[J].Journal of Astronautics,2004,25(2):187-194.]
[8]Wu E C,Hwang J C,Chladek J T.Fault-tolerant joint development for the space shuttle remote manipulator system:analysis and experiment[J].IEEE Transactions on Robotics and Automation,2013,9(5):675-684.
[9]赵京,荆红梅,张雷.两机械臂协调操作的容错运动规划[J].机械工程学报,2004,40(12):172-176.[Zhao Jing,Jing Hong-mei,Zhang Lei.Fault tolerant motion planning for two coordinating manipulators[J].Chinese Journal of Mechanical Engineering,2004,40(12):172-176.]
[10]李君.基于旋量理论的Stanford臂的运动学分析[J].天津科技大学学报,2010,25(4):72-75.[Li Jun.Kinematics analysis on Stanford arm based on screw theory[J].Journal of Tianjin University of Science and Technology,2010,25(4):72-75.]
[11]洪昭斌,陈力.漂浮基柔性空间机械臂基于奇异摄动法的模糊控制和柔性振动主动控制[J].机械工程学报,2010,46(7):35-41.[Hong Zhao-bin,Chen Li.Active vibration control and fuzzy control of free-floating space flexible manipulator based on singular perturbation theory[J].Journal of Mechanical Engineering,2010,46(7):35-41.]