朱安, 陈力. 含弹簧阻尼装置空间机器人捕获卫星操作力学分析及缓冲、柔顺控制[J]. 工程力学, 2020, 37(12): 202-212. DOI: 10.6052/j.issn.1000-4750.2020.01.0038
引用本文: 朱安, 陈力. 含弹簧阻尼装置空间机器人捕获卫星操作力学分析及缓冲、柔顺控制[J]. 工程力学, 2020, 37(12): 202-212. DOI: 10.6052/j.issn.1000-4750.2020.01.0038
ZHU An, CHEN Li. OPERATION MECHANICAL ANALYSIS AND BUFFER COMPLIANT CONTROL OF SPACE ROBOT CAPTURE SATELLITE WITH SPRING DAMPING DEVICE[J]. Engineering Mechanics, 2020, 37(12): 202-212. DOI: 10.6052/j.issn.1000-4750.2020.01.0038
Citation: ZHU An, CHEN Li. OPERATION MECHANICAL ANALYSIS AND BUFFER COMPLIANT CONTROL OF SPACE ROBOT CAPTURE SATELLITE WITH SPRING DAMPING DEVICE[J]. Engineering Mechanics, 2020, 37(12): 202-212. DOI: 10.6052/j.issn.1000-4750.2020.01.0038

含弹簧阻尼装置空间机器人捕获卫星操作力学分析及缓冲、柔顺控制

OPERATION MECHANICAL ANALYSIS AND BUFFER COMPLIANT CONTROL OF SPACE ROBOT CAPTURE SATELLITE WITH SPRING DAMPING DEVICE

  • 摘要: 为了在空间机器人捕获卫星操作过程中保护关节不受冲击破坏,在电机与机械臂之间加入了一种弹簧阻尼装置(SDD)。该装置不仅能够吸收、消耗冲击能量,还能配合柔顺策略将冲击力矩限制在安全范围内。分别利用含耗散力Lagrange方程法与Newton-Euler法建立了碰撞前的分体系统动力学方程;基于位置、速度约束与牛顿第三定律导出了碰撞后的混合体系统动力学方程,且对碰撞冲击效应与碰撞力进行了计算;针对捕获操作碰撞时间短、数据源少的问题提出了一种基于Barrier-Lyapunov函数的自适应积分强化学习控制方案;通过Lyapunov定理证明了系统的稳定性,通过数值仿真表明了SDD的抗冲击性能与柔顺策略的有效性。

     

    Abstract: In order to protect joints from impact damage during the process of space robot capturing satellite, a Spring-Damper Device (SDD) is designed between a joint motor and a manipulator. The device can not only absorb and digest the impact energy, but also limit the joint’s impact torque to a safe range through a coordinated compliance strategy. The dynamic models of a space robot and a satellite before collision are derived by a Lagrange function based on dissipation theory and a Newton-Euler function respectively. Combined with Newton's third law and the velocity and position constraints of capture points, the dynamic model of a hybrid system after capturing is obtained. The impact effect and impact force are calculated based on momentum conservation. An adaptive integral reinforcement learning control scheme based on a Barrier-Lyapunov function is proposed to solve the problem of short collision time and few data in capture operation. The stability of the system is proved by Lyapunov theorem, and the anti-impact performance of SDD and the effectiveness of compliance strategy are proved by numerical simulation.

     

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