一种柔性空间双臂机器人的协同控制和避障方法

针对柔性空间机械臂在轨服务应用需求，提出一种基于刚体运动与柔性振动相耦合的空间双臂机器人协同控制方法.首先引入空间位姿变量的概念，构造出面向协同控制目标的Jacobian矩阵，建立柔性空间机器人系统的刚柔耦合动力学模型，基于指定的最小距离得到其运动学逆解，并根据系统动量矩守恒关系及系统的Jacobian矩阵，并根据机械臂末端的运动速度,然后采用阻尼最小二乘法得出关节角度，使柔性空间机器人能够有效完成协同控制和空间避障任务，并基于RecurDyn V7R5软件环境验证算法的正确性.最后，基于SolidWorks和ADAMS虚拟样机建立柔性空间机器人系统的立体CAD模型，并结合空间在轨搬运任务进行模拟仿真，柔性空间机器人关节操作和运动轨迹的仿真结果图验证了本文算法的有效性.

A Dual Arm Coordinated Control and Obstacles Avoidance

According to the application requirements of flexible space manipulator in orbit service, a cooperative control method of space dual arm robot is proposed based on the coupling of rigid body motion and flexible vibration. Firstly, the concept of space pose variable is introduced. The Jacobian matrix for cooperative control target is constructed. The rigid flexible coupling dynamic model of flexible space robot system is established. The inverse kinematics solution is obtained based on the specified minimum distance. And the Jacobian matrix of the system is obtained according to the conservation relationship of momentum moment of the system and the movement speed of the end of the manipulator. Then the joint angle is obtained by using the damped least square method so that the flexible space robot can effectively complete the task of cooperative control and space obstacle avoidance. And the correctness of the algorithm is verified based on the software environment of RecurDyn v7r5. Finally, based on the virtual prototype of SolidWorks and Adams, a three dimensional CAD model of the flexible space robot system is established. And the simulation is carried out in combination with the space on orbit transportation task. The simulation results of the joint operation and motion trajectory of the flexible space robot verify the effectiveness of the algorithm in this paper.