空间机械臂关节故障引起速度突变的抑制

针对空间机械臂关节发生故障后的末端速度突变问题，提出一种基于退化雅克比矩阵的突变抑制方法。首先利用旋量理论建立空间机械臂的通用运动学模型，然后通过重构数学模型和调整控制模型与运行参数，引入补偿项，实现模型重构和在线调整中的平滑特性。并且开展了机械臂正常运行、故障运行和故障后抑制运行这三种工况下的控制仿真。结果表明，此方法对于实现单关节故障状态下机械臂末端速度突变抑制是有效的，对提高任务完成的连续性能力和降低故障影响具有重要的在轨应用意义。

Suppression of Velocity Mutation Caused by Space Manipulator Joint Failure

Aiming at the problem of velocity mutation caused by joint failure, one method to suppress velocity mutation based on degradation Jacobian matrix is proposed. The universal kinematic model of the space robot arm is established by using screw theory, and then the compensation term is deduced by the reconstruction of the mathematical model and the adjustment of the operation parameters to realize the smoothing properties in model reconstruction and on-line adjustment. In this paper the simulationincluding three cases such as normal case, failure case and mutation suppression after failure is presented. The simulation results illustrate the validity of the proposed method. It’s very important for the success of the task and lowering failure influence to research velocity mutation suppression method.