光学精密工程2023，Vol.31Issue(22)：3266-3278,13.DOI:10.37188/OPE.20233122.3266
空间机器人在轨双臂辅助航天器对接力/位置嵌套双层滑模阻抗控制
Double layer sliding mode force/position impedance control for dual-arm space robot on orbit auxiliary docking spacecraft operation
摘要
Abstract
To comply with the process of a space robot capturing a spacecraft and the subsequent auxiliary docking operation,precise control of the output force and position of the spacecraft docking device was studied herein.A spring damper buffer device was added between the joint motor and manipulator to pre-vent the joint from being damaged under the huge impact force generated during contact and impact.First,by combining Newton's third law,velocity constraints of the capture points,and closed-chain system geo-metric constraints,a dynamic model of the hybrid system after capture was obtained,and the impact effect and force were estimated based on momentum conservation.Then,the impedance model during docking was established through the kinematics of the spacecraft docking device relative to the base coordinate sys-tem.Subsequently,a robust adaptive-double-layer sliding-mode control strategy was developed.Com-bined with impedance control,this strategy employed a force load servo control system to accurately con-trol the position and output force of the docking device to reduce the impact force during contact and im-pact.The control strategy featured a double-layer sliding-mode structure,with the first layer ensuring con-vergence of the hybrid system in finite time and the second layer being used to solve the high-gain problem of the controller.Finally,the stability of the system was proved using the Lyapunov theorem,and the ef-fectiveness of the proposed strategy was verified through a numerical simulation.The simulation results in-dicate that the buffer device can reduce the impact force by 46.78%of the maximum at the given veloci-ties.Moreover,the control accuracy of the output force is better than 0.5 N,while the accuracies of the position and attitude are better than 10-3 m and 0.5°,respectively.关键词
双臂空间机器人/缓冲装置/辅助对接操作/阻抗控制/双层滑模Key words
dual-arm space robot/buffer device/auxiliary docking operation/impedance control/double layer sliding mode分类
计算机与自动化引用本文复制引用
朱安,陈力..空间机器人在轨双臂辅助航天器对接力/位置嵌套双层滑模阻抗控制[J].光学精密工程,2023,31(22):3266-3278,13.基金项目
国家自然科学基金资助项目(No.51741502) （No.51741502）
福建省工业机器人基础部件技术重大研发平台资助项目(No.2014H21010011) （No.2014H21010011）
福建省机器人基础部件与系统集成创新中心专项资金项目 （）
