空间机器人抓捕目标后的载荷分配

针对多臂空间机器人以软指接触形式抓捕目标后的情形，提出了一种综合考虑摩擦约束及机械臂能力约束的目标期望合外力的载荷分配方法。首先，建立空间机器人系统与目标的动力学方程，作为载荷分配问题的基础。然后，在地面机器人相关研究的基础上，建立机械臂末端与目标表面的软指接触模型，并建立二者之间的运动约束关系。为简化优化计算，将摩擦锥约束线性化，并建立考虑关节扭矩限制的机械臂能力约束，从而将抓捕力优化的非线性规划问题转化为线性规划问题。最后，采用双臂空间机器人模型进行数值仿真，表明所提方法针对目标各种形式运动进行载荷分配的有效性。

Load distribution for space robots after target capture

This paper proposes a load distribution method of the desired target external force for the multi-arm space robot after capturing the target in the form of soft-finger contact, which considers both the friction constraint and capability constraint of the manipulators. The dynamic equations of the space robotic system and the target are first constructed as the basis of load distribution. The soft-finger contact model between the end-effector of manipulators and the target surface is then established based on the research of ground robots, while the motion constraint between the two is also obtained. To simplify the optimization calculation, the friction cone constraint is linearized, and the capability constraint of manipulators considering the joint torque limit is established to transform the nonlinear optimization problem of the grasping force planning into a linear one. Finally, the numerical simulation of a dual-arm space robot model shows the effectiveness of the proposed method of load distribution for various forms of target motion.