| 空间机器人在轨更换ORU的力/位混合控制方法 |
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| 引用本文： | 徐文福,周瑞兴,孟得山.空间机器人在轨更换ORU的力/位混合控制方法[J].宇航学报,2013,34(10):1353-1361. |
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| 作者姓名： | 徐文福 周瑞兴 孟得山 |
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| 作者单位： | 1.哈尔滨工业大学深圳研究生院，深圳 518055； 2.深圳市数字化制造技术重点实验室，深圳 518055 |
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| 基金项目： | 国家自然科学基金（61175098, 51205078）；机器人技术与系统国家重点实验室开放基金(SKLRS-2012-MS-05) |
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| 摘 要： | 针对ORU在轨更换任务，首先推导了空间机械臂末端自由、末端与环境接触等情况下的动力学方程，并提出了相应的接触力计算方法；其次，改进了传统的R\|C控制方法，采用加权选择矩阵代替原有的选择矩阵，实现了力控制与位置控制之间的平滑切换；最后，开发了基于Matlab/Simulink的闭环控制仿真系统，该系统由多体动力学、接触动力学、轨迹规划、力/位混合控制、3D显示等模块组成。利用该系统开展了ORU转移与安装过程的闭环控制仿真，仿真结果校验了所提方法的有效性。
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| 关 键 词： | 空间机器人 力/位混合控制 ORU更换 接触动力学 选择矩阵 |
| 收稿时间： | 2012-11-29 |
A Hybrid Force/Position Control Method of Space Robot PerformingOn Orbit ORU Replacement |
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| XU Wen fu,ZHOU Rui xing,MENG De shan.A Hybrid Force/Position Control Method of Space Robot PerformingOn Orbit ORU Replacement[J].Journal of Astronautics,2013,34(10):1353-1361. |
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| Authors: | XU Wen fu ZHOU Rui xing MENG De shan |
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| Affiliation: | 1. Shenzhen Graduate School of Harbin Institute of Technology, Shenzhen 518055, China；
2. Shenzhen Key Lab of Digital Manufacturing Technology, Shenzhen 518055, China |
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| Abstract: | Aiming at the ORU on orbit replacement task, the system dynamics equations are firstly derived under the conditions that the end effector is free or the end effector contacts with the environment. The corresponding computational methods of the contact forces are proposed. Secondly, the traditional R C control method is modified by using weighted selection matrix to replace the original selection matrix, thus achieving a smooth switching between the force control and the position control. Lastly, a closed loop simulation system based on Matlab/Simulink is developed. It is composed of multi body dynamics, contact dynamics, trajectory planning, hybrid force/position control, 3D display modules, et al. By using the system, the closed loop control simulation of the ORU transfer and installation process is carried out. The simulation results verify the proposed method. |
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| Keywords: | Space robot Hybrid force/position Control ORU replacement Contact dynamics Selection matrix |
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