宇航学报

宇航学报 ›› 2021, Vol. 42 ›› Issue (10): 1305-1316.doi: 10.3873/j.issn.1000-1328.2021.10.011

• 制导、导航、控制与电子 • 上一篇    下一篇

空间机器人抓捕碰撞分析与轨迹规划镇定控制

樊茂，汤亮   

  1. 1. 北京控制工程研究所，北京 100190；2. 空间智能控制技术重点实验室，北京 100190
  • 收稿日期:2020-08-18 修回日期:2021-02-08 出版日期:2021-10-15 发布日期:2021-10-15

Impact Analysis and Trajectory Planning Stabilization Control for Space Robot after Capturing Target

FAN Mao, TANG Liang   

  1. 1. Beijing Institute of Control Engineering, Beijing 100190, China;2. Science and Technology on Space Intelligent Control Laboratory, Beijing 100190, China
  • Received:2020-08-18 Revised:2021-02-08 Online:2021-10-15 Published:2021-10-15

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摘要： 针对空间机器人抓捕目标过程中产生的碰撞冲击问题，分析了抓捕瞬态碰撞对机器人系统产生的影响，提出了一种控制力矩能量消耗少、对卫星平台基座扰动小的镇定控制方法，实现了对抓捕目标后组合体系统的镇定控制。首先，利用Kane方法建立了抓捕后的目标-机械臂-卫星平台组合体动力学模型；其次，利用ADAMS软件分析了瞬态碰撞冲击对空间机器人系统的影响，为后续镇定控制策略的设计提供初始仿真参数；采用四次多项式实现了机械臂关节空间轨迹的参数化，设定了基于控制力矩能量与基座扰动的加权目标函数，利用差分进化算法(DE)求解得到满足控制力矩能量消耗小、平台基座扰动少的机械臂关节空间轨迹。最后，利用七自由度空间机器人的数值仿真，验证了所提出方法的有效性。


关键词: 空间机器人抓捕, ADAMS仿真, 轨迹规划, 镇定控制, 差分进化算法

Abstract: A stable control strategy which costs lower control energy and produces less disturbance to the platform is proposed for a free floating robot after being impacted by the captured target, and the influence of the impact on the space robot system is analyzed after capturing the target. Firstly, the dynamic model of the target manipulator platform compound system is established by the Kane equation; and then, the ADAMS software is used to analyze the impact on the space robot when capturing the target which provides initial simulation conditions for the control strategy; after that, the weighted objective function is set up for the differential evolution (DE) algorithm to search the joints space trajectory which is parameterized by the quartic polynomial. And the DE algorithm solves and gets joints trajectory which costs lower control energy and produces less disturbance to the platform. Finally, the numerical simulation result based on the free floating space robot with 7 degrees of freedom shows the validity of the proposed control strategy.


Key words: Space robot capturing, ADAMS simulation, Trajectory planning, Stable control, Differential evolution algorithm

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