空间机器人目标捕获的运动规划研究
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摘要
随着航天科技和机器人技术的发展,利用空间机器人提供在轨服务成为航天领域的研究热点,而目标捕获作为自主在轨服务的关键技术备受关注。本文围绕自由飘浮空间机器人目标捕获的运动规划问题展开研究。论文在建立空间机器人数学模型的基础上,分别讨论了奇异相容的精确路径跟踪问题、机械臂位形与基座姿态的协同规划问题、目标捕获时基座最小扰动规划问题以及目标捕获后惯性参数不精确情况下的自适应规划问题。
自由飘浮空间机器人有着与地面固定基座机器人不同的运动特性。在建立运动学模型时,以机械臂末端的位置与速度方程为基础,结合动量守恒方程推导出广义雅可比矩阵;在建立动力学模型时,从机器人的一般动力学模型推导出自由飘浮状态下的动力学方程;最后,给出了本文研究的空间机器人系统,并分析了模型的等效特性、奇异特性以及非完整特性,为后续章节的研究奠定了基础。
奇异性是机械臂的固有属性,空间机械臂也不例外。当空间机械臂陷入奇异位形的时候,传统的奇异回避方法往往会带来机械臂末端轨迹的偏离。本文采用奇异相容的零空间方法,分析了空间机器人通过奇异区域时精确跟踪期望路径的条件,并将在线规划问题转换为非线性控制问题,提出了一种“零空间投影+非线性控制+指令滤波”的关节速度规划框架,设计了相应的控制律与指令滤波器。仿真结果表明,所设计的规划方法无论是在奇异区域还是在非奇异区域都能实现机械臂末端对期望路径的精确跟踪,而且能够确保所规划的关节速度处于给定范围之内。
在点到点规划过程中,不仅需要控制机械臂位形,还需要考虑机械臂的运动给基座姿态带来的扰动。本文首先研究机械臂构形与基座姿态的协同规划问题。在分析系统可控性的基础上,构建了对于线性状态反馈的不变流形,分析了不变流形的物理意义,并基于不变流形设计了分段控制器。该控制器先将机械臂构形与基座姿态调整到不变流形之上,然后沿该流形调整到期望状态。最后结合虚拟机械臂建模方法,将机械臂构形与基座姿态的协同规划扩展到机械臂末端位形与基座姿态的协同规划。仿真结果表明,所设计的方法能将机械臂位形与基座姿态同时调整到期望状态。
在捕获运动目标时,机械臂末端与目标的碰撞可能带来基座角动量的改变。角动量的改变会带来角速度的改变,从而导致基座姿态的扰动。本文着重研究目标捕获时基座角速度的扰动问题。在建立了碰撞动力学模型的基础上,分析了固定位形下碰撞接触点的相对速度与基座角速度扰动量的关系,设计了目标捕获时基座角速度零扰动的关节速度规划方法;然后讨论了采用零扰动规划时碰撞过程中角动量的转移情况,并采用偏移动量方法对零扰动规划进行了优化。仿真结果表明,所设计的规划方法不仅可以避免目标捕获时碰撞给基座带来角速度扰动,同时加快了对目标角动量的吸收速度,有利于捕获后的运动控制。
与地面固定基座机械臂不同的是,空间机器人的运动学中含有动力学参数。在捕获目标后,动力学参数发生了变化,这给规划带来较大困难。本文详细推导了速度方程和动量守恒方程关于动力学参数的线性化形式,并以机械臂末端位置和基座姿态为输出量,提出了一种不需加速度信息的关节空间自适应规划方法;同时,为了加快参数的收敛速度,增加了跟踪误差的预测环节,设计了利用跟踪误差和预测误差的复合自适应规划方法,并对其稳定性和收敛性进行了证明。仿真结果表明,所设计的自适应规划方法能够有效地对不精确的动力学参数进行调整,并能保证任务空间轨迹跟踪误差的渐近收敛。
最后,总结了论文的工作析了不足之处,并提出了今后的研究重点。
Along with the developments of aerospace science and technology, On-Orbit Servicing operated with assist of space robots is a hotspot of researches in the field of aerospace, and the target capture attracts much attention of researchers as the key techniques of the OOS. The motion planning of free-floating space robots for target capture is studied in this dissertation. Based on the analysis of kinematics and dynamics, four problems are discussed. The singularity-consistent trajectory tracking are discussed firstly, and then the coordinated planning for the manipulator and the base orientation is discussed. Thirdly, the zero-disturbance planning during the target capture is discussed. At last, the adaptive planning with dynamic parameter uncertainties is discussed during the post-impact phase.
There are many differences between the motion characteristics of the space robot and that of the fixed-base robot. The position equation and velocity equation are presented at first. And the generalized Jacobian is derived with the momentum conservation equation. Then the dynamics of free-floating space robot is established. At last, space robot systems studied in the dissertation are presented and some characteristics of the system such as equivalences, singularities, and the nonholonomy are discussed, which lay the groundwork for the researches in the following chapters.
Singularities are the inherent properties of the manipulator, and there are no exceptions for the space robot. With the traditional planning method, the trajectory of the end-effector might be departed from the expected trajectory when the desired path passes through singularities. In this dissertation, based on the singularity-consistent null space approach, conditions for prisely tracking passing through singularities are analyzed firstly, and then trajectory generation is transformed to a nonlinear control problem. The frame for joint velocity planning is constructed as“Null-space Approach + Nonlinear Control + Command Filter”. The control law and the command filter are constructed respectively. Simulation results show that the path following by the end-effector is realized precisely under the limitation of joint velocities whenever the desired path is in or out of the singular region.
In the process of point-to-point planning, not only the configuration of the manipulator but also attitude disturbances of the base need to be considered. In this dissertation, the coordinated planning for the configuration of the manipulator and the base orientation is studied firstly. An invariant manifold with a linear state feedback is constructed, and its physical meaning is explained. A piecewise controller is designed, stabilizing the system states to the invariant manifold and then to the desired states along the manifold. And then combined with the Virtual Manipulator approach, the planning method is extended to the coordinated planning of the configuration of the end-effector and the base orientation. Simulation results show that the configuration of the manipulator and the base orientation can reach their desired values simultaneously with the designed controller.
During the capture of a dynamic target, the momentums of the target are transferred to the robot system. The change of angular momentum might bring the change of angular velocity, and the base orientation might be disturbed. In this dissertation, the disturbance of the angular velocity of the base is discussed. The contact dynamics is established firstly. Then the relationship between the relative velocity of the contact points and the variation of the base angular velocity is analyzed. And then the zero-disturbance planning method is designed. At last, the momentum transformation during the capturing phase is discussed, and the full bias momentum approach is applied to optimizing the zero-disturbance planning method. Simulation results show that angular velocity variation of the base is avoided, and the angular momentum transformation is quickened. This facilitates the motion control of the manipulator during the post-impact phase.
Different from the fixed-base manipulator, the kinematics of the space manipulator should take dynamic parameters into consideration. The dynamic parameters are changed after the capture operation. This brings difficulties to the motion planning of the space robot. In this dissertation, the linearization for the kinematics and the momentum conservation law with respect to dynamic parameters is discussed firstly. Then the output state is constructed as the combination of the end-effector position and the base orientation. The adaptive planning algorithm is designed without the acceleration measurement. In order to improve the convergence, with an additional predicting module, a composite adaptive planning method is presented and the stability and convergence are analyzed. Simulation results show that the tracking error in task space is asymptotically stabilized to zero with the designed planning method.
Finally, main contents of this dissertation are summarized and key points for future researches are discussed.
自由飘浮空间机器人有着与地面固定基座机器人不同的运动特性。在建立运动学模型时,以机械臂末端的位置与速度方程为基础,结合动量守恒方程推导出广义雅可比矩阵;在建立动力学模型时,从机器人的一般动力学模型推导出自由飘浮状态下的动力学方程;最后,给出了本文研究的空间机器人系统,并分析了模型的等效特性、奇异特性以及非完整特性,为后续章节的研究奠定了基础。
奇异性是机械臂的固有属性,空间机械臂也不例外。当空间机械臂陷入奇异位形的时候,传统的奇异回避方法往往会带来机械臂末端轨迹的偏离。本文采用奇异相容的零空间方法,分析了空间机器人通过奇异区域时精确跟踪期望路径的条件,并将在线规划问题转换为非线性控制问题,提出了一种“零空间投影+非线性控制+指令滤波”的关节速度规划框架,设计了相应的控制律与指令滤波器。仿真结果表明,所设计的规划方法无论是在奇异区域还是在非奇异区域都能实现机械臂末端对期望路径的精确跟踪,而且能够确保所规划的关节速度处于给定范围之内。
在点到点规划过程中,不仅需要控制机械臂位形,还需要考虑机械臂的运动给基座姿态带来的扰动。本文首先研究机械臂构形与基座姿态的协同规划问题。在分析系统可控性的基础上,构建了对于线性状态反馈的不变流形,分析了不变流形的物理意义,并基于不变流形设计了分段控制器。该控制器先将机械臂构形与基座姿态调整到不变流形之上,然后沿该流形调整到期望状态。最后结合虚拟机械臂建模方法,将机械臂构形与基座姿态的协同规划扩展到机械臂末端位形与基座姿态的协同规划。仿真结果表明,所设计的方法能将机械臂位形与基座姿态同时调整到期望状态。
在捕获运动目标时,机械臂末端与目标的碰撞可能带来基座角动量的改变。角动量的改变会带来角速度的改变,从而导致基座姿态的扰动。本文着重研究目标捕获时基座角速度的扰动问题。在建立了碰撞动力学模型的基础上,分析了固定位形下碰撞接触点的相对速度与基座角速度扰动量的关系,设计了目标捕获时基座角速度零扰动的关节速度规划方法;然后讨论了采用零扰动规划时碰撞过程中角动量的转移情况,并采用偏移动量方法对零扰动规划进行了优化。仿真结果表明,所设计的规划方法不仅可以避免目标捕获时碰撞给基座带来角速度扰动,同时加快了对目标角动量的吸收速度,有利于捕获后的运动控制。
与地面固定基座机械臂不同的是,空间机器人的运动学中含有动力学参数。在捕获目标后,动力学参数发生了变化,这给规划带来较大困难。本文详细推导了速度方程和动量守恒方程关于动力学参数的线性化形式,并以机械臂末端位置和基座姿态为输出量,提出了一种不需加速度信息的关节空间自适应规划方法;同时,为了加快参数的收敛速度,增加了跟踪误差的预测环节,设计了利用跟踪误差和预测误差的复合自适应规划方法,并对其稳定性和收敛性进行了证明。仿真结果表明,所设计的自适应规划方法能够有效地对不精确的动力学参数进行调整,并能保证任务空间轨迹跟踪误差的渐近收敛。
最后,总结了论文的工作析了不足之处,并提出了今后的研究重点。
Along with the developments of aerospace science and technology, On-Orbit Servicing operated with assist of space robots is a hotspot of researches in the field of aerospace, and the target capture attracts much attention of researchers as the key techniques of the OOS. The motion planning of free-floating space robots for target capture is studied in this dissertation. Based on the analysis of kinematics and dynamics, four problems are discussed. The singularity-consistent trajectory tracking are discussed firstly, and then the coordinated planning for the manipulator and the base orientation is discussed. Thirdly, the zero-disturbance planning during the target capture is discussed. At last, the adaptive planning with dynamic parameter uncertainties is discussed during the post-impact phase.
There are many differences between the motion characteristics of the space robot and that of the fixed-base robot. The position equation and velocity equation are presented at first. And the generalized Jacobian is derived with the momentum conservation equation. Then the dynamics of free-floating space robot is established. At last, space robot systems studied in the dissertation are presented and some characteristics of the system such as equivalences, singularities, and the nonholonomy are discussed, which lay the groundwork for the researches in the following chapters.
Singularities are the inherent properties of the manipulator, and there are no exceptions for the space robot. With the traditional planning method, the trajectory of the end-effector might be departed from the expected trajectory when the desired path passes through singularities. In this dissertation, based on the singularity-consistent null space approach, conditions for prisely tracking passing through singularities are analyzed firstly, and then trajectory generation is transformed to a nonlinear control problem. The frame for joint velocity planning is constructed as“Null-space Approach + Nonlinear Control + Command Filter”. The control law and the command filter are constructed respectively. Simulation results show that the path following by the end-effector is realized precisely under the limitation of joint velocities whenever the desired path is in or out of the singular region.
In the process of point-to-point planning, not only the configuration of the manipulator but also attitude disturbances of the base need to be considered. In this dissertation, the coordinated planning for the configuration of the manipulator and the base orientation is studied firstly. An invariant manifold with a linear state feedback is constructed, and its physical meaning is explained. A piecewise controller is designed, stabilizing the system states to the invariant manifold and then to the desired states along the manifold. And then combined with the Virtual Manipulator approach, the planning method is extended to the coordinated planning of the configuration of the end-effector and the base orientation. Simulation results show that the configuration of the manipulator and the base orientation can reach their desired values simultaneously with the designed controller.
During the capture of a dynamic target, the momentums of the target are transferred to the robot system. The change of angular momentum might bring the change of angular velocity, and the base orientation might be disturbed. In this dissertation, the disturbance of the angular velocity of the base is discussed. The contact dynamics is established firstly. Then the relationship between the relative velocity of the contact points and the variation of the base angular velocity is analyzed. And then the zero-disturbance planning method is designed. At last, the momentum transformation during the capturing phase is discussed, and the full bias momentum approach is applied to optimizing the zero-disturbance planning method. Simulation results show that angular velocity variation of the base is avoided, and the angular momentum transformation is quickened. This facilitates the motion control of the manipulator during the post-impact phase.
Different from the fixed-base manipulator, the kinematics of the space manipulator should take dynamic parameters into consideration. The dynamic parameters are changed after the capture operation. This brings difficulties to the motion planning of the space robot. In this dissertation, the linearization for the kinematics and the momentum conservation law with respect to dynamic parameters is discussed firstly. Then the output state is constructed as the combination of the end-effector position and the base orientation. The adaptive planning algorithm is designed without the acceleration measurement. In order to improve the convergence, with an additional predicting module, a composite adaptive planning method is presented and the stability and convergence are analyzed. Simulation results show that the tracking error in task space is asymptotically stabilized to zero with the designed planning method.
Finally, main contents of this dissertation are summarized and key points for future researches are discussed.
引文
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