| 计及关节及杆柔性的空间机械臂抓取控制 |
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| 引用本文： | 张元,赵志刚,李娜,魏承.计及关节及杆柔性的空间机械臂抓取控制[J].南京航空航天大学学报,2011,43(2). |
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| 作者姓名： | 张元 赵志刚 李娜 魏承 |
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| 作者单位： | 1. 哈尔滨理工大学机械动力工程学院 哈尔滨 150080
2. 哈尔滨工业大学航天学院 哈尔滨 150001 |
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| 基金项目： | 国家自然科学基金(11072066)资助项目 |
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| 摘 要： | 针对考虑关节及杆柔性的空间机械臂动力学与抓取控制问题,以三连杆柔性机械臂为研究对象,考虑臂杆的横向弯曲变形、纵向拉伸变形及由于横向变形引起的轴向收缩的二阶耦合量等,并通过引用转子扭簧模型来考虑柔性关节的影响,应用Lagrange方程和假设模态法建立动力学模型.引入“动态抓取域”来描述机械臂的抓取过程,采用关节主动阻尼控制来抑制抓取过程中的碰撞激振力,分析了匀速抓取和加速抓取两种策略的机械臂柔性关节的变形特性.仿真结果表明:关节柔性减小了整体碰撞力,在碰撞过程中起到一定的缓冲作用；加速抓取控制下比匀速抓取控制下的关节变形小,前者整体优于后者.
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| 关 键 词： | 空间机械臂 动力学模型 柔性关节 柔性杆 抓取控制 |
Space Manipulator Grasping Control with Flexible Link and Flexible Joint |
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| Zhang Yuan
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Zhao Zhigang
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Li Na
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Wei Cheng.Space Manipulator Grasping Control with Flexible Link and Flexible Joint[J].Journal of Nanjing University of Aeronautics & Astronautics,2011,43(2). |
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| Authors: | Zhang Yuan Zhao Zhigang Li Na Wei Cheng |
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| Institution: | Zhang Yuan1,Zhao Zhigang2,Li Na2,Wei Cheng2(1.School of Mechanical & Power Engineering,Harbin University of Science and Technology,Harbin,150080,China,2.School of Astronautics,Harbin Institute of Technology,150001,China) |
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| Abstract: | To solve the problem of dynamics and grasping control on manipulator with flexible link and flexible joint,the planar rotating motion of a three-link flexible manipulator is taken as target,with the full consideration of transverse bending deformation,longitudinal tensile deformation and two-order coupling term of axial shrinkage induced by lateral deformation.The rotor torsion-spring model is introduced to analyze the influence caused by flexible joints. The dynamics model of flexible manipulator is establ... |
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| Keywords: | space manipulators dynamics model flexible joint flexible link grasping control |
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