自由漂浮空间机器人多体动力学及目标捕获研究
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摘要
随着人类对太空探索的不断深入，自由漂浮空间机器人将发挥着越来越重要的作用，成为国内外学者研究的热点问题。由于自由漂浮空间机器人的基座处于自由漂浮状态，整个系统受到非完整约束，使得自由漂浮空间机器人对目标航天器的捕获变得十分困难，为了更好地设计控制系统与研究自由漂浮空间机器人的动态特性，有必要对自由漂浮空间机器人进行多体动力学研究。由于航天系统的特殊性，需要高效率的多体动力学建模与计算方法。本文以此为背景，重点研究了自由漂浮空间机器人及其扩展系统的多体动力学以及自由漂浮空间机器人目标捕获的方法，并提出了一种地面试验系统方案。下面对这几个方面进行详细的介绍：
研究了基于空间算子代数(Spatial Operator Algreba, SOA)理论的高效率多体动力学建模方法，利用基于旋量形式的牛顿-欧拉递推运动学方程，使用序贯滤波和光滑化最优估计理论方法，对多体系统的广义质量矩阵进行矩阵分解，并且显式地表达了广义质量矩阵的逆矩阵，建立了通用的基于空间算子代数理论的多刚体系统的动力学方程以及正向动力学和反向动力学的高效率求解方法。该方法具有数学表达形式直观、计算高效和物理意义明确等优点。
基于空间算子代数理论，对自由漂浮空间机器人的扩展系统进行多体动力学研究，建立了树形多体系统、欠驱动系统以及闭环系统的动力学方程。高效率的动力学方法为空间复杂多体系统的实时动力学仿真以及控制系统的建模分析提供了理论依据。研究了基于滑模变结构控制的欠驱动机器人控制算法，类比于广义质量矩阵的分块将控制系统进行分层，在只有主动控制输入的情况下，使得主动关节和被动关节都收敛到期望的状态。
研究了柔性系统多体动力学问题。利用有限元技术，结合基于空间算子代数的多刚体动力学方法，建立了柔性体的多体动力学方程，研究了柔性多体系统的正向动力学和方向动力学高效率求解方法。
基于双目立体视觉伺服方法，提出了自由漂浮空间机器人目标捕获的方法，编制了仿真软件。利用双目立体视觉系统测量目标体的空间位置姿态，反馈给机器人控制系统，根据机械臂的运动，利用高效率的实时动力学方法实现基座在仿真软件中的运动。通过仿真可以发现基于双目立体视觉伺服的自由漂浮空间机器人可以跟踪并达到目标体的位置，表明所提出的目标捕获方法是可行的。
对航天器活动的可靠性和可行性分析，不仅需要理论上的验证，还需要实际地在地面进行物理试验验证。利用空间算子代数动力学建模和计算方法在实时动力学计算效率方面的优势，提出了一种混合式的地面试验平台的设计方案：将工业机器人的末端执行器与空间机器人的基座连接；根据空间机器人机械臂的运动，利用高效率的实时动力学方法计算基座的运动；将基座运动传递给地面用于模拟基座运动的6自由度工业机器人，以达到自由漂浮空间机器人基座在太空中真实运动状态的效果。该地面物理试验平台搭建完成后，就可以对自由漂浮空间机器人目标捕获的方法进行进一步的试验验证。
With the human beings explore the space deeply, the free-floating space robot will paly animportant role in space exploration, and becomes the hot issue for domestic and foreign scholars. Asthe base of the free-floating space robot in the state of free-floating, the entire system is under thenonholonomic constraint, which making the design of the control more difficult for the free-floatingspace robot capturing the target, so, it is necessary to study the multibody dynamics. Due to the natureof the space system, it requires high efficiency multibody dynamic modeling method. Therefore, thisthesis will focus on resolving some challenging problems, which include the rigid multibodydynamics of the free-floating space robot and expansion its sysytems, the flexible multibodydynamics of free-floating space robot, target capturing method and presents a ground test systemsolution. The main contributions of this thesis are as follows:
The high efficiency of the multibody dynamics modeling algorithm based on spatial operatralgreba(SOA) is studied.. The recursive Newton-Euler kinematic equations on screw form for thespace robot are derived, and the techniques of the sequential filtering and smoothing methods inoptimal estimation theory are used to derive an innovation factorization and inverse of the generalizedmass matrix in explicit, and the multibody dynamic equatons for the general multibody dynamicsysytems, the high efficient soluations to the forward multibody dynamics problem and backwardmultibody dynamics problem algorithms are established. The SOA algorithm has a simple mathexpression, high compulational efficiency and clear physical understanding advantages.
Based on spatial operator algreba theory, the multibody dynamics of expansion of thefree-floating space robot sysytems are studied, and the general dynamic equations for the treemultibody dynamic system, underactuated multibody dynamic system and close loop multibodydynamic system are established. The high efficient multibody dynamic modeling algorithm can beused for real time dynamic simulation for space systems. Based on sliding mode variable structurecontrol algorithm, analogise to the block generalized mass matrix, under the active control inputs theactive joints and passive joints both can convergence to desired state.
The flexible multibody dynamic systems are studied. Using the technology of the finite elementmethod, combing with the rigid multibody dynamic method based on spatial operator algreba theory,the flexible multibody dynamic equations are established, and the high efficient dynamic computationalgorithms for forward and backward dynamic problems are proposed.
Based on binocular stereo visual servo method, the target capturing method of the free-floatingspace robot is proposed, and the simulation software is designed. The binocular stereo vision systemis used to measure the position and posture of the target in base body coordinate, and feedback to therobot control system. According to the manpulator’s motion of the space robot compute the motion ofthe base body in the software by the high efficient reat-time dynamic computation algorithm. Formthe simulation software we could found that the target capturing method based on binocular stereovision of the free-floating space robot could implement the target tracking and capturing, indicatingthat the targrt capturing method is feasible.
The reliability and feasibility of the spacecrafts Activities, not only need theory verification, butalso need the actual physical test on the ground. By the advantage of the real-time multibody dynamicalgorithm in modeling and computation efficiency, a hybrid ground test platform is proposed. Thebase of the free-floating space robot is connected to the end effector of the6degrees of freedomindustrial robot, according to the manipoulator’s motion of the space robot the base motion iscomputed by high efficient real-time dynamic algorithm, and then uses the industrial robot to simulatethe actual base motion to implement the real base motion in the space of the free-floating space robot.After the ground physical test platform is completed, target capturing method of the free-floatingspace robot could be by verified further experiments.
研究了基于空间算子代数(Spatial Operator Algreba, SOA)理论的高效率多体动力学建模方法，利用基于旋量形式的牛顿-欧拉递推运动学方程，使用序贯滤波和光滑化最优估计理论方法，对多体系统的广义质量矩阵进行矩阵分解，并且显式地表达了广义质量矩阵的逆矩阵，建立了通用的基于空间算子代数理论的多刚体系统的动力学方程以及正向动力学和反向动力学的高效率求解方法。该方法具有数学表达形式直观、计算高效和物理意义明确等优点。
基于空间算子代数理论，对自由漂浮空间机器人的扩展系统进行多体动力学研究，建立了树形多体系统、欠驱动系统以及闭环系统的动力学方程。高效率的动力学方法为空间复杂多体系统的实时动力学仿真以及控制系统的建模分析提供了理论依据。研究了基于滑模变结构控制的欠驱动机器人控制算法，类比于广义质量矩阵的分块将控制系统进行分层，在只有主动控制输入的情况下，使得主动关节和被动关节都收敛到期望的状态。
研究了柔性系统多体动力学问题。利用有限元技术，结合基于空间算子代数的多刚体动力学方法，建立了柔性体的多体动力学方程，研究了柔性多体系统的正向动力学和方向动力学高效率求解方法。
基于双目立体视觉伺服方法，提出了自由漂浮空间机器人目标捕获的方法，编制了仿真软件。利用双目立体视觉系统测量目标体的空间位置姿态，反馈给机器人控制系统，根据机械臂的运动，利用高效率的实时动力学方法实现基座在仿真软件中的运动。通过仿真可以发现基于双目立体视觉伺服的自由漂浮空间机器人可以跟踪并达到目标体的位置，表明所提出的目标捕获方法是可行的。
对航天器活动的可靠性和可行性分析，不仅需要理论上的验证，还需要实际地在地面进行物理试验验证。利用空间算子代数动力学建模和计算方法在实时动力学计算效率方面的优势，提出了一种混合式的地面试验平台的设计方案：将工业机器人的末端执行器与空间机器人的基座连接；根据空间机器人机械臂的运动，利用高效率的实时动力学方法计算基座的运动；将基座运动传递给地面用于模拟基座运动的6自由度工业机器人，以达到自由漂浮空间机器人基座在太空中真实运动状态的效果。该地面物理试验平台搭建完成后，就可以对自由漂浮空间机器人目标捕获的方法进行进一步的试验验证。
With the human beings explore the space deeply, the free-floating space robot will paly animportant role in space exploration, and becomes the hot issue for domestic and foreign scholars. Asthe base of the free-floating space robot in the state of free-floating, the entire system is under thenonholonomic constraint, which making the design of the control more difficult for the free-floatingspace robot capturing the target, so, it is necessary to study the multibody dynamics. Due to the natureof the space system, it requires high efficiency multibody dynamic modeling method. Therefore, thisthesis will focus on resolving some challenging problems, which include the rigid multibodydynamics of the free-floating space robot and expansion its sysytems, the flexible multibodydynamics of free-floating space robot, target capturing method and presents a ground test systemsolution. The main contributions of this thesis are as follows:
The high efficiency of the multibody dynamics modeling algorithm based on spatial operatralgreba(SOA) is studied.. The recursive Newton-Euler kinematic equations on screw form for thespace robot are derived, and the techniques of the sequential filtering and smoothing methods inoptimal estimation theory are used to derive an innovation factorization and inverse of the generalizedmass matrix in explicit, and the multibody dynamic equatons for the general multibody dynamicsysytems, the high efficient soluations to the forward multibody dynamics problem and backwardmultibody dynamics problem algorithms are established. The SOA algorithm has a simple mathexpression, high compulational efficiency and clear physical understanding advantages.
Based on spatial operator algreba theory, the multibody dynamics of expansion of thefree-floating space robot sysytems are studied, and the general dynamic equations for the treemultibody dynamic system, underactuated multibody dynamic system and close loop multibodydynamic system are established. The high efficient multibody dynamic modeling algorithm can beused for real time dynamic simulation for space systems. Based on sliding mode variable structurecontrol algorithm, analogise to the block generalized mass matrix, under the active control inputs theactive joints and passive joints both can convergence to desired state.
The flexible multibody dynamic systems are studied. Using the technology of the finite elementmethod, combing with the rigid multibody dynamic method based on spatial operator algreba theory,the flexible multibody dynamic equations are established, and the high efficient dynamic computationalgorithms for forward and backward dynamic problems are proposed.
Based on binocular stereo visual servo method, the target capturing method of the free-floatingspace robot is proposed, and the simulation software is designed. The binocular stereo vision systemis used to measure the position and posture of the target in base body coordinate, and feedback to therobot control system. According to the manpulator’s motion of the space robot compute the motion ofthe base body in the software by the high efficient reat-time dynamic computation algorithm. Formthe simulation software we could found that the target capturing method based on binocular stereovision of the free-floating space robot could implement the target tracking and capturing, indicatingthat the targrt capturing method is feasible.
The reliability and feasibility of the spacecrafts Activities, not only need theory verification, butalso need the actual physical test on the ground. By the advantage of the real-time multibody dynamicalgorithm in modeling and computation efficiency, a hybrid ground test platform is proposed. Thebase of the free-floating space robot is connected to the end effector of the6degrees of freedomindustrial robot, according to the manipoulator’s motion of the space robot the base motion iscomputed by high efficient real-time dynamic algorithm, and then uses the industrial robot to simulatethe actual base motion to implement the real base motion in the space of the free-floating space robot.After the ground physical test platform is completed, target capturing method of the free-floatingspace robot could be by verified further experiments.
引文
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101.王从庆，石宗坤.自由浮动空间双臂机器人抓持内力的优化控制.宇航学报,2006,27(1):16-20.
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104. Jain A, Rodriguez G． An analysis of the kinematics and dynamics of underactuatedmanipulators．IEEE transactions on robotics and automation,1993,9(4):411-422．
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106.张广军.机器视觉.北京：科学出版社,2005.
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108. Malis E, Chaumette F, Boudet S. Multi-cameras visual servoing. Proceedings of the IEEEInternational Conference on Robotics and Automation, ICRA’00,2000,4:3183–3188.
109. Pretlove J, Parker, G. The development of a real-time stereo-visionsystem to aid robot guidancein carrying out a typical manufacturing task. Proceedings of the Internation Symposium ofRobotics Research, ISRR,1991:1–23.
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