多臂空间机器人操作大型目标的全身接触柔顺控制研究

doi:10.3969/j.issn.1000-1093.2019.02.020

兵工学报 ›› 2019, Vol. 40 ›› Issue (2): 395-403.doi: 10.3969/j.issn.1000-1093.2019.02.020

多臂空间机器人操作大型目标的全身接触柔顺控制研究

刘嘉宇^1,2，李通通²，余张国¹，陈学超¹，黄强¹

(1.北京理工大学机电学院, 北京 100081； 2.中国运载火箭技术研究院北京精密机电控制设备研究所, 北京 100076)

收稿日期:2018-03-30 修回日期:2018-03-30 上线日期:2019-04-08
通讯作者: 余张国(1975—),男,副教授 E-mail:yuzg@bit.edu.cn
作者简介:刘嘉宇(1985—),男,高级工程师，博士。E-mail: jyliu_bit@hotmail.com；
黄强(1965—),男,教授，博士生导师。E-mail: qhuang@bit.edu.cn
基金资助:
国家自然科学基金项目（61320106012）

On Whole-body Contact Compliance Control for Spatial Multi-arm Robot Manipulating a Large Target

LIU Jiayu^1,2， LI Tongtong²， YU Zhangguo¹， CHEN Xuechao¹， HUANG Qiang¹

(1.School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China; 2.Beijing Research Institute of Precise Mechatronics and Controls, China Academy of Launch Vehicle Technology, Beijing 100076, China)

Received:2018-03-30 Revised:2018-03-30 Online:2019-04-08

摘要/Abstract

摘要： 多臂空间机器人操作大型目标时，由于受到来自目标把手的较大拖拽力，机器人无法对目标实施有效的操作和运动约束，这些无法预知的外部拖拽可能导致机器人支撑臂的损坏或者任务失败。为了应对上述挑战，提出了一种基于全身阻抗控制和独立导纳控制的组合式接触柔顺全身控制策略，分别在空间机器人多刚体系统质心层面构建机械阻抗特性和在每条机械臂建立导纳特性，实现对外部拖拽的有效管理。基于二次规划（QP）方法构建了系统控制器，将机器人全身运动行为统一起来，设计了包括全身柔顺控制和关节力矩优化在内的QP目标函数，用来实现接触柔顺控制。通过仿真和降维度气浮实验方法综合验证了上述方法的有效性。

关键词: 空间机器人, 大型目标捕获, 柔顺接触, 阻抗控制, 二次规划

Abstract: A spatial multi-arm robot almost cannot perform effective manipulation constraint on the target due to the large drag force and motion from the multi-contact handles of target when it manipulates a large target on orbit. The unpredictable external drag may result in the damage to the arms or the failure of capture task. A contact compliance control strategy is proposed based on a combination control law of whole-body impedance control at the center of mass (CoM) level and the independent admittance control at every supporting arm level. The robot can effectively manage the external drag force by constructing the mechanical impedance at the CoM of multi-rigid body system of spatial robot and the admittance at every arm, respectively. A quadratic programming (QP) method is used to build a system controller for the contact compliance control, which can unify the robot's whole-body motion behavior. The effectiveness of the proposed method is verified by simulation and the dimensionality reduction experiment on air-bearing bed. Key

Key words: spatialrobot, largetargetcapture, compliancecontact, impedancecontrol, quadraticprogramming

中图分类号:

TP242.4

刘嘉宇，李通通，余张国，陈学超，黄强. 多臂空间机器人操作大型目标的全身接触柔顺控制研究[J]. 兵工学报, 2019, 40(2): 395-403.

LIU Jiayu， LI Tongtong， YU Zhangguo， CHEN Xuechao， HUANG Qiang. On Whole-body Contact Compliance Control for Spatial Multi-arm Robot Manipulating a Large Target[J]. Acta Armamentarii, 2019, 40(2): 395-403.

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多臂空间机器人操作大型目标的全身接触柔顺控制研究

On Whole-body Contact Compliance Control for Spatial Multi-arm Robot Manipulating a Large Target

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