宇航学报

宇航学报 ›› 2018, Vol. 39 ›› Issue (2): 206-215.doi: 10.3873/j.issn.1000-1328.2018.02.011

• 制导、导航、控制与电子 • 上一篇    下一篇

多臂空间机器人的视觉伺服与协调控制

冯骁，卢山，侯月阳，王奉文，贾英宏   

  1. 1. 北京航空航天大学宇航学院，北京 100083；2. 上海航天控制技术研究所，上海 201109；
    3. 上海市空间智能控制技术重点实验室，上海 201109
  • 收稿日期:2017-03-07 修回日期:2017-05-24 出版日期:2018-02-15 发布日期:2018-02-25
  • 基金资助:

    上海市自然科学基金（16ZR1415600）；上海市科技人才计划（17XD1420700）

Visual Servoing and Coordination Control of Multi Arm Space Robot

FENG Xiao, LU Shan, HOU Yue yang, WANG Feng wen, JIA Ying hong   

  1. 1. School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. Shanghai Aerospace Control Technology Institute, Shanghai 201109, China;
     3. Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109, China
  • Received:2017-03-07 Revised:2017-05-24 Online:2018-02-15 Published:2018-02-25

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摘要：

针对多臂空间机器人自主目标抓捕任务，首先建立多臂空间机器人的运动模型和其与目标的相对运动模型，采用Kane方法建立多臂空间机器人的动力学模型；其次，研究基于视觉伺服的机械臂在线轨迹规划算法，并引入零反作用机动，消除机械臂运动对平台姿态的扰动；再次，在不使用零反作用机动功能时，分别使用基于角动量前馈补偿的协调控制算法和逆动力学方法设计了协调控制器，在机械臂运动时保持平台姿态和相对目标的位置。最后，开发了基于Matlab的仿真软件MASS（多臂空间机器人仿真），仿真结果校验了上述方法的有效性。

关键词: 多臂空间机器人, Kane方法, 视觉伺服, 协调控制, 逆动力学控制

Abstract:

Aiming at the autonomous capture task with a multi-arm space robot, the kinematics of the multi-arm space robot and the relative motion kinematics are firstly formulated, and the dynamics of the space robot is derived using the Kane’s method. Then, the position-based visual servoing is used as the on-line path planning algorithm, and the zero-reaction maneuver is integrated into the algorithm to eliminate the disturbance caused by the arms. When the zero-reaction functionality is not used, two coordination controllers are designed to keep the platform’s attitude and relative position with respect to the target. One is the momentum feedforward compensation based coordination controller, and the other is the inverse dynamics controller. A simulation software called MASS (Multi-arm space-robot simulation) is coded with Matlab, with which the numerical simulation shows the effectiveness of the above methods.

Key words: Multi arm space robot, Kane’s method, Visual servoing, Coordination control, Inverse dynamics control

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