| 空间机器人捕获漂浮目标的抓取控制 |
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| 引用本文： | 魏承,赵阳,田浩.空间机器人捕获漂浮目标的抓取控制[J].航空学报,2010,31(3):632-637. |
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| 作者姓名： | 魏承 赵阳 田浩 |
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| 作者单位： | 哈尔滨工业大学航天学院,黑龙江哈尔滨,150001 |
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| 基金项目： | 教育部创新团队发展计划项目，CAST创新基金 |
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| 摘 要： | 提出了动态抓取域用于空间机器人捕获漂浮目标的抓取控制。空间机器人捕获漂浮目标时,由于机械臂与基体的动力学耦合、抓取时的碰撞激振等非线性特性使得抓取控制变得复杂而重要。首先建立了空间机器人及漂浮目标的动力学模型,而后引入了末端装置抓取目标时的碰撞模型,并提出了"动态抓取域"用于机械臂抓取目标时的控制,同时应用关节主动阻尼控制,以减小抓取碰撞激振对空间机器人冲击的影响。结果表明:在相同抓取时间下,加速抓取明显优于匀速抓取,碰撞力振幅减小至匀速抓取时的20%,对空间机器人的激振冲击明显消除,仅在抓取结束前有小幅激振。这对空间机器人的抓取控制有着重要的理论价值及工程实际意义。
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| 关 键 词： | 空间机器人 捕获目标 动态抓取域 抓取控制 主动阻尼控制 动力学模型 |
Grasping Control of Space Robot for Capturing Floating Target |
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| Wei Cheng,Zhao Yang,Tian Hao.Grasping Control of Space Robot for Capturing Floating Target[J].Acta Aeronautica et Astronautica Sinica,2010,31(3):632-637. |
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| Authors: | Wei Cheng Zhao Yang Tian Hao |
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| Affiliation: | School of Astronautics,Harbin Institute of Technology |
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| Abstract: | The dynamic grasping area (DGA) is applied for grasping control of a space robot’s capturing a floating target. In the capture,the grasping control becomes quite complicated and important because of the nonlinear characteristics such as the dynamic coupling between the arm and base,the impact and vibration of grasping,etc. A dynamic model of the space robot and floating target is established firstly,and an impact model of hand grasping is introduced. Secondly,the DGA is created for hand grasping control and joint active damping control to reduce the impact effect on the space robot. The simulation results indicate that within the same grasping period,the accelerating grasping is better than uniform grasping in that the impact force swing reduces to 20% of that of uniform grasping. The impact on the space robot is significantly eliminated and only stimulates weak vibrations before the grasping finishes. The results would have important theoretical value and engineering significance. |
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| Keywords: | space robot capturing target dynamic grasping area grasping control active damping control dynamic models |
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