南京航空航天大学学报2025，Vol.57Issue(3)：441-450,10.DOI:10.16356/j.1005-2615.2025.03.005
空间桁架自主装配轨迹规划与控制策略
Autonomous Assembly Trajectory Planning and Control Strategy for Space Trusses
摘要
Abstract
Aiming at the on-orbit assembly of large-scale trusses in space,an on-orbit assembly system for space trusses is designed,including an assembly robot and a truss system based on component-level modular units.Considering the safety and orderliness of the whole assembly process,a mathematical expression of the truss rod assembly process based on the adjacency matrix is constructed,which is used to plan the assembly sequence of each rod of the cubic truss unit.At the same time,an arc trajectory planning method for arbitrary assembly positions is proposed to ensure the smoothness of the whole process of rod assembly and the positive alignment in the docking stage.Finally,an adaptive smoothing control algorithm that dynamically adjusts the parameters according to the contact force is utilized to ensure the safety and smoothness of the truss rod contact assembly.Based on the joint simulation model of ADAMS and Simulink for space truss on-orbit assembly system constructed in this paper,it is shown that the autonomous assembly trajectory planning and control strategy proposed in this paper can realize the autonomous smooth and compliant assembly of space truss,and the contact force in the assembly process is less than 10 N.关键词
在轨装配/空间桁架/机械臂/轨迹规划/自适应柔顺控制Key words
on-orbit assembly/space truss/robotic arm/trajectory planning/adaptive compliance control分类
计算机与自动化引用本文复制引用
孟凡奇,陈萌,马晓龙,高金忠,高洋..空间桁架自主装配轨迹规划与控制策略[J].南京航空航天大学学报,2025,57(3):441-450,10.基金项目
上海市优秀学术带头人项目(23XD1403800) （23XD1403800）
上海市"科技创新行动计划"启明星项目(扬帆专项)(23YF1411200) （扬帆专项）
国家自然科学基金联合基金(U21B6002). （U21B6002）
