Analysis and design of force/pose impedance control of inserting and pulling holes operation for space manipulator orbit placing the parts
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摘要: 讨论了空间机械臂在轨部件替换插、拔孔操作相关力学及阻抗控制问题。为此,结合系统动量守恒关系,空间机械臂替换部件末端输出插、拔孔主动力与孔内所受摩擦阻力作用关系,以及第二类拉格朗日方程;推导得到了载体位置、姿态均不受控制情况下,空间机械臂在轨部件替换插、拔孔操作过程系统动力学方程。同时,根据相关操作控制系统设计需要,利用系统位置几何关系分析、建立了空间机械臂替换部件末端相对基联坐标系的相对运动雅可比关系。之后,由空间机械臂替换部件末端位姿与末端输出插、拔孔主动力之间的动态关系并结合阻抗控制原理,建立了二阶线性阻抗力学模型。在上述工作基础上,针对空间机械臂在轨部件替换插、拔孔操作过程同时存在运动学与动力学不确定性的情况,设计了空间机械臂替换部件末端力/位姿跟踪指数型阻抗控制策略;并通过李雅普诺夫理论,证明了控制系统的稳定性。提到的控制策略具有结构简单、收敛速度快、稳定性好的特点。系统数值仿真,验证了上述控制策略的有效性。Abstract: The mechanical and impedance control problems related to the inserting and pulling holes operation for space manipulator orbit placing the parts of station is discussed. Therefore, combining the conservation of momentum, the relationship between the driving force of inserting and pulling holes at the end of the replacement parts of space manipulator and the friction resistance in the holes, and the second Lagrange equation, the dynamic equation of the system is derived when the position and attitude of the carrier are not controlled. At the same time, according to the design requirements of the related operation and control system, the Jacobian relation between the end of the replacement parts of space manipulator and the basic coordinate system is established by using the geometric relation analysis of the system position. Then, a second-order linear impedance control model is established based on the dynamic relationship between the pose and the driving force of the end of the replacement parts of space manipulator and the impedance control principle. On the basis of the above work, aiming at the uncertainty of kinematics and dynamics in the process of inserting and pulling holes operation for space manipulator orbit placing the parts of station, an exponential impedance control strategy for the end force/pose tracking of the replacement parts of the space manipulator is designed, and the stability of the control system is proved through Lyapunov theory. The control strategy has the advantages of simple structure, fast convergence speed and good stability. The numerical simulation of the system verifies the effectiveness of the above control strategy.
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