Position/force hybrid control method for space manipulator

A space manipulator, hybrid control technology, applied in manipulators, program control manipulators, manufacturing tools, etc., can solve the problems of oscillation stability in the transition process, difficulty in application, and no compensation of dynamic characteristics

Active Publication Date: 2013-07-24
BEIJING INST OF SPACECRAFT SYST ENG
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Problems solved by technology

The main difficulty in the force control of the mechanical arm is that the contact force model in Cartesian space and the dynamic model in joint space are nonlinear correspondences, especially for redundant degrees of freedom mechanical arms, which is a refraction relationship, making it difficult to process the model as a slave joint. A Unified Model of Spatial Control Moment Inputs to Cartesian Spatial Force Outputs
However, most of

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  • Position/force hybrid control method for space manipulator
  • Position/force hybrid control method for space manipulator
  • Position/force hybrid control method for space manipulator

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Embodiment Construction

[0044] The implementation process of the whole invention is shown in figure 1 . The specific implementation is described in detail as follows:

[0045] (1) Establish the dynamic model of the manipulator

[0046] Consider an n-degree-of-freedom redundant space manipulator whose multi-rigid body dynamics equation is described as

[0047] M ( q ) q · · + C ( q , q · ) q · = τ - - - ( 1 )

[0048] where M(q)∈R n×n is the inertia matrix of the joint space, is the coupling effect of centrifugal force and Coriolis force, τ∈R n is the joint driving torque, the degree of freedom n>6, and the redundant ...

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Abstract

The invention relates to a position/force hybrid control method for a space manipulator, which is a double-loop control method combining a Cartesian space and a joint space. Compared with a conventional control method on the basis of an integral model, which has the problems of oscillation of the transition process and algorithm complexity, the position/force hybrid control method for the space manipulator has the advantages that the position/force hybrid control problem is decomposed into the planning problem of the Cartesian space and the control problem of the joint space; a position/force kinematic plan from the Cartesian space to the joint space and kinematic control of the joint space are given out; an internal and external loop control system is formed; and position control on a free space at the tail end of the manipulator and contact force control in a space restrained by the environment are implemented. A simulation result for a SDOF ( Seven Degrees of Freedom) redundant manipulator proves that the method disclosed by the invention is simple to operate, is effective and is easy for engineering realization.

Description

technical field [0001] The invention relates to a position-force hybrid control method of a space manipulator, which can provide technical support for the third-phase manned manipulator project in my country. Background technique [0002] The development of the space manipulator is one of the core technologies for the success of my country's future space station projects. Its engineering design requirements are very strict and involve many key technologies that urgently need to be solved. The robotic arm plays an important role in the space station system, undertaking various functions such as cabin capture and transfer, instrument equipment transfer and installation, and assisting astronauts in their operations. Since the space manipulator is a complex dynamic system, it presents complex dynamic characteristics of variable mass, variable structure, large flexibility, strong nonlinearity, and strong coupling. Great challenge. There are two basic modes of manipulator operat...

Claims

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Application Information

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IPC IPC(8): B25J9/18
Inventor 葛东明邹元杰
Owner BEIJING INST OF SPACECRAFT SYST ENG
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