| 空间大质量目标转位操作双臂协调控制方法 |
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| 引用本文： | 刘磊,张涛.空间大质量目标转位操作双臂协调控制方法[J].宇航学报,2022,43(12):1629-1637. |
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| 作者姓名： | 刘磊 张涛 |
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| 作者单位： | 1. 清华大学自动化系，北京 100084；2. 空间智能控制技术重点实验室，北京 100094 |
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| 基金项目： | 重点实验室基金（HTKJ2019KL502015） |
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| 摘 要： | 针对空间中双臂协调转位过程中面临的双臂异构、刚度不同、负载较大、测量/执行误差影响大、抓捕位置随机偏差等问题，提出了一种空间大质量目标转位操作双臂协调控制方法。首先基于双臂转位的几何约束，进行协调转位运动规划。然后，将双机械臂关节划分为主动关节和从动关节，并对主动关节设计关节位置控制器，对从动关节设计零力控制器，从动关节在转位目标的拖动力下进行跟随运动。最后，数学仿真表明了所提出的双臂协调转位方法的有效性。
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| 关 键 词： | 在轨服务 双机械臂 大质量目标 协调转位 协调控制 |
| 收稿时间： | 2022-06-27 |
A Dual arm Coordinated Control Method for Transposition Operation of Large Mass Objects in Space |
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| LIU Lei,ZHANG Tao.A Dual arm Coordinated Control Method for Transposition Operation of Large Mass Objects in Space[J].Journal of Astronautics,2022,43(12):1629-1637. |
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| Authors: | LIU Lei ZHANG Tao |
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| Affiliation: | 1. Department of Automation, Tsinghua University, Beijing 100084, China;2. Science and Technology on Space Intelligent Control Laboratory, Beijing 100094, China |
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| Abstract: | In order to solve the problems in the process of dual arm manipulator transposition in space, such as heterogeneous structures, different stiffness, large loading, large influence of measurement/execution error, and random deviation of capturing position, a dual arm coordinated control method for transposition operation of large mass objects in space is proposed. Firstly, based on the characteristics of the coordinated transposition task of a satellite by dual arms, the coordinated transposition motion planning is executed. Then, all the joints of the dual arms are divided into master joints and slave joints. The joint position controller is designed for the master joints, and the zero force controller for the slave joints. Finally, a numerical simulation is conducted to show the performance of the proposed dual arm coordinated transposition controller. |
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| Keywords: | On orbit servicing Dual arm manipulator Large mass object Coordinated transposition Coordinated control |
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