配置柔顺机构空间机器人双臂捕获卫星操作基于事件采样输出反馈的神经网络避撞柔顺控制
作者:
作者单位:

福州大学机械工程及自动化学院

作者简介:

通讯作者:

中图分类号:

TP242

基金项目:

国家自然科学基金项目(11372073);福建省工业机器人基础部件技术重大研发平台(2014H21010011)


Collision avoidance and compliance control based on event sampling output feedback for dual arm capture satellite operation of space robot with compliant mechanism
Author:
Affiliation:

School of Mechanical Engineering and Automation,Fuzhou University

Fund Project:

Project of National Natural Science Foundation of China (11372073); major R & D platform of industrial robot basic component technology in Fujian Province (2014H210011)

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    摘要:

    讨论了漂浮基空间机器人双臂捕获非合作卫星过程避免关节冲击破坏的避撞柔顺控制问题。为此提出在机械臂与关节电机之间加入一种旋转型串联弹性执行器(Rotatory Series Elastic Actuator, RSEA)作为柔顺缓冲机构,其作用在于:一、捕获碰撞过程,通过其内置弹簧的拉伸或压缩来吸收捕获操作过程中被捕获卫星对空间机器人关节产生的冲击能量;二、捕获完成后的镇定过程,利用设计与之配合的避撞柔顺控制策略来保证关节冲击力矩限制在安全范围。为此,利用第二类拉格朗日方程推导得到了捕获操作前含柔顺机构双臂空间机器人系统及目标卫星的各分体系统动力学模型;之后,基于系统动量守恒关系、系统运动几何关系及牛顿第三定律,得到了捕获操作后双臂空间机器人与被捕获卫星混合体系统综合动力学方程;最后,针对捕获操作后受碰撞影响而产生不稳定运动的混合体系统,提出了一种基于事件采样输出反馈的RBF神经网络避撞柔顺控制方案。上述方案与柔顺机构相结合不仅能有效吸收被捕获卫星的冲击能量,还能在冲击能量过大时应时开、关双臂空间机器人关节电机,以防止关节电机发生过载与破坏。李雅普诺夫稳定性理论证明了系统的全局稳定性,仿真结果验证了所提避撞柔顺控制方案的有效性。

    Abstract:

    The collision avoidance and compliant control for free-floating space robot double arm capture satellite is studied. By this, a rotating series elastic actuator (RSEA) is adopted between the manipulator and the joint motor as a compliant mechanism. Its functions are: First, the impact energy of the captured satellite on the joint of space robot can be absorbed by the deformation of internal spring; Second, the joint impact torque can be limited to a safe range through combining with the collision avoidance compliant control scheme. First off, the dynamic models of the space robot and the target satellite before capture are derived by using the second Lagrange equation. Then, based on the momentum conservation relationship, the kinematic geometry relationship and Newton"s third law, the integrated dynamic model of the combined system is obtained. Finally, considering the post-capture unstable combined system, a kind of RBF neural network collision avoidance compliance control scheme based on the event sampling output feedback is proposed. The above scheme can not only effectively absorb the impact energy of the captured satellite, but also turn on and off the joint motor when the impact energy is too large. The global stability of the system is proved by Lyapunov stability theory, and the effectiveness of the proposed collision avoidance compliance control scheme is verified by simulation.

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  • 收稿日期:2019-12-16
  • 最后修改日期:2020-05-09
  • 录用日期:2020-04-22
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