微重力环境模拟作业训练机器人碰撞力反馈控制

针对航天员在地球表面进行微重力环境中操作训练时微重力环境模拟作业训练机器人存在的碰撞力反馈控制问题，建立碰撞力反馈模型、提出单个柔索驱动单元控制策略和机器人系统碰撞力反馈控制策略。利用Matlab/Simulink软件对碰撞力反馈模型和控制策略进行仿真验证，该模型和控制策略可以实现机器人碰撞力反馈，且具有计算量小、实时性好、不需要额外增加传感器等优势；结合提出的柔索驱动单元复合控制策略和机器人系统碰撞力反馈控制策略进行机器人碰撞力反馈控制实验，提高机器人控制的准确性和实时性。结果表明，基于干扰观测器的柔索驱动单元复合控制策略将柔索驱动单元主动控制精度提升11%，被动控制多余力消除率达到81.82%；机器人碰撞力反馈控制策略可以有效提升航天员作业训练时碰撞力临场感体验。

Feedback Control of Collision Force for Operation Training Robot in Simulated Microgravity Environment

Aiming at the problem of collision force feedback control in the microgravity environment simulation training robot when astronauts operate in the microgravity environment on the Earth surface, the collision force feedback model is established, the control strategy of single flexible cable driven unit and the collision force feedback control strategy of robot system are proposed. The Matlab/Simulink software is used to simulate the collision force feedback model and control strategy. The model and control strategy can realize the collision force feedback of robot, and has the advantages of small amount of calculation, good real time performance and no additional sensors. In order to improve the accuracy and real time performance of robot control, the compound control strategy of flexible cable driven unit and the collision force feedback control strategy of robot system are combined to carry out the robot collision force feedback control experiment. The results show that the hybrid control strategy based on the disturbance observer improves the active control accuracy by 11%, and the redundant force elimination rate of the passive control reaches 81.82%; and the robot collision force feedback control strategy can effectively improve the impact force telepresence experience of astronauts during operation training.