多臂协调操作自由飞行空间机器人的位置和内力混合控制

基于多臂自由飞行空间机器人多臂协调操使负载沿着期望的轨迹运动并且控制负载所受的内力为目的，在多臂自由飞行空间机器人系统协调操作的动力学方程基础上，推导了各个机械臂协调操作负载按期望轨迹运动时各个机械臂关节的驱动力矩的计算方法；给出了作用在负载的内力的定义，根据关节力矩计算方法和PID反馈控制原理，建立了多臂自由飞行空间机器人协调操作负载时的位置和内力的控制算法；讨论了所提出的控制算法的稳定性问题，得到了负载的位置误差和内力误差的约束条件。通过仿真实验证明该控制算法能够使负载的实际位姿和内力收敛到期望的轨迹和内力。

Position and Internal Force Hybrid Control Algorithm of Multi-Arm Coordinated Operate Free Flying Space Robot

In this paper, the research target is to control the load operated by multi-arm free-flying space robot to move along desired trajectory, and its internal force can be controlled. Based on the multi-arm free-flying space robot coordinated operation dynamics equation, the calculation method of driving torque of coordinated operation was deduced. The definition of internal force caused by driving torque was given, the control algorithm of position and internal force of object coordinated operated by multi-ann FFSR was constructed depend on the torque calculation of joints and PID feedback theory. The stable problem of control system was discussed, the error constrained equations of position and internal force was obtained. That the desired position-orientation and internal force curves of the load can be tracked by actual curves system was proved through simulation.