具有初始动量的空间机械臂零反作用轨迹跟踪
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摘要
对具有初始动量的自由漂浮空间机械臂系统进行了研究,考虑其执行在轨任务时便已经具有的动量,根据系统的构型参数建立运动学模型,再采用拉格朗日第二类方程建立动力学模型。利用空间机械臂系统具有冗余自由度这一特性,推导运动学和动力学方程,得到了零反作用运动方程,消除了基座和机械臂之间的角速度耦合作用。末端运动轨迹用多项式插值函数来逼近,根据给定的机械臂末端初始和终止状态来规划其运动轨迹,并将机械臂末端的工作空间转换到关节空间中。根据已知的动力学模型,设计合适的比例一微分(PD)控制率。仿真结果表明,通过选择合适的增益反馈矩阵,机械臂末端能平稳地跟踪目标轨迹,同时,机械臂的运动不会对基座的姿态产生扰动,保证了基座姿态的稳定性及航天器的正常运行。
The free-floating manipulator system with non-zero initial momentum was studied.The configuration parameters of the manipulator system and the Lagrange equations were used to build the dynamic model.In order to eliminate the coupling effects between the base and the manipulators in angular velocity,the zero reaction motion equation was derived by using the manipulator system redundancy.A polynomial interpolation method was used to approach the trajectory of end-effector and the trajectory was planned due to the initial and final position of end-effector which could turn workspace of end-effector into joints space.A suitable proportiondifferentiation(PD) control algorithm was designed to drive manipulators movement.Simulation results demonstrate that the end-effector can smoothly track the target and the movement of the manipulator doesn t make any disturbance to the base s attitude at the same time and the spacecraft also can work normally because of the stability of base.
The free-floating manipulator system with non-zero initial momentum was studied.The configuration parameters of the manipulator system and the Lagrange equations were used to build the dynamic model.In order to eliminate the coupling effects between the base and the manipulators in angular velocity,the zero reaction motion equation was derived by using the manipulator system redundancy.A polynomial interpolation method was used to approach the trajectory of end-effector and the trajectory was planned due to the initial and final position of end-effector which could turn workspace of end-effector into joints space.A suitable proportiondifferentiation(PD) control algorithm was designed to drive manipulators movement.Simulation results demonstrate that the end-effector can smoothly track the target and the movement of the manipulator doesn t make any disturbance to the base s attitude at the same time and the spacecraft also can work normally because of the stability of base.
引文
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[10]IOANNIS TORTOPIDIS,EVANGELOS PAPADOULOS.On point-to-point motion planning for underactuated space manipulator systems[J],Robotics and Autonomous Systems,2007,55(7):122-131.
[11]EVANGELOS PAPADOPOULOS,IOANNIS TORTOPIDIS,KOSTAS NANOS.Smooth planning for free-floating space robots using polynomials[C].The 2005 IEEE International Conference on Robotics and Automation,Barcelona,Spain,April,2005:4272-4277.
[12]洪昭斌.漂浮基空间机械臂冲击动力学建模、控制[C].第32届中国控制会议,中国,西安,2013,7月26-28日:503-506.HONG ZHANBIN.Modeling of impact dynamics and control for coordinated motion of space manipulator[C].The 32nd Chinese Control Conference,Xi'an,China,July 26-28,2013:503-506.
[2]徐文福,詹文法,梁斌,等.自由漂浮空间机器人系统基座姿态调整路径规划方法的研究[J].机器人,2006,28(3):291-296.XU WENFU,ZHAN WENFA,LIANG BIN,et al.Path planning for base attitude adjustment of a free-floating space robot system[J].Robot,2006,28(3):291-296.
[3]徐栓锋,杨保华,张笃周,等.面向非合作目标抓捕的机械臂轨迹规划方法[J].中国空问科学技术,2014,34(4):8-15.XU SHUANFENG,YANG BAOHUA,ZHANG DUZHOU,et al.Trajectory planning algorithm for manipulators capturing non-cooperative objects[J].Chinese Space Science and Technology,2014,34(4):8-15.
[4]DRAGOMIR N NENCHEV,KAZUYA YOSHIDA.Impact Analysis and post-impact motion control issues of a free-floating space robot subject to a force impulse[J].IEEE Transactions on Robotics and Automation,1999,15(3):548-557.
[5]VAFA Z,DUBOWSKY S.On the dynamics of space manipulator using the virtual manipulator with application to path planning[J].Journal of the Astronautical Science,1990,38(4):441-472.
[6]NENCHEV D,UMETANI Y,YOSHIDA K.Analysis of a redundant free-flying spacecraft/manipulator system[J].IEEE Transactions on Robotics and Automation,1992,8(1):1-6.
[7]王委锋,罗建军,马卫华.自由漂浮空间机器人动力学建模与仿真研究[J].科学技术与工程,2011 11(13):3004-3008.WANG WEIFENG,LUO JIANJUN,MA WEIHUA.Study on dynamic modeling and simulation of free-floating space robot[J].Science Technology and Engineering,2011 11(13):3004-3008.
[8]P PIERSIGILLI,I SHARF,A K MISRA.Reactionless capture of a satellite by a two degree-of-freedom manipulator[J].Acta Astronautic,2010,66(5):183-192.
[9]徐文福.空间机器人目标捕获的路径规划与实验研究[D].哈尔滨:哈尔滨工业大学,2007:60-63.XU WENFU.Path planning and experiment study of space robot for target capturing[D].Harbin Institute of Technology,2007:60-63.
[10]IOANNIS TORTOPIDIS,EVANGELOS PAPADOULOS.On point-to-point motion planning for underactuated space manipulator systems[J],Robotics and Autonomous Systems,2007,55(7):122-131.
[11]EVANGELOS PAPADOPOULOS,IOANNIS TORTOPIDIS,KOSTAS NANOS.Smooth planning for free-floating space robots using polynomials[C].The 2005 IEEE International Conference on Robotics and Automation,Barcelona,Spain,April,2005:4272-4277.
[12]洪昭斌.漂浮基空间机械臂冲击动力学建模、控制[C].第32届中国控制会议,中国,西安,2013,7月26-28日:503-506.HONG ZHANBIN.Modeling of impact dynamics and control for coordinated motion of space manipulator[C].The 32nd Chinese Control Conference,Xi'an,China,July 26-28,2013:503-506.