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机械工程学报

机械工程学报 ›› 2017, Vol. 53 ›› Issue (11): 97-103.doi: 10.3901/JME.2017.11.097

• 航天工程中机构可靠性及其动力学和系统控制基础研究 • 上一篇    下一篇

基于柔性补偿的行星表面采样机械臂控制策略研究

唐玲, 梁常春, 王耀兵, 姜水清, 袁宝峰   

  1. 北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室 北京 100094
  • 出版日期:2017-06-05 发布日期:2017-06-05
  • 作者简介:

    唐玲，女，1986年出生，硕士，工程师。主要研究方向为空间智能机器人。

    E-mail：tangling501@163.com

    袁宝峰(通信作者)，男，1979年出生，高级工程师。主要研究方向为空间智能机器人。

    E-mail：bfyuan@sohu.com

  • 基金资助:
    * 国家高技术研究发展计划资助项目(973计划，2013CB733000); 20160628收到初稿，20170309收到修改稿;

Research on Flexible Compensation Control Strategy for Planetary Surface Sampling Manipulator

TANG Ling, LIANG Changchun, WANG Yaobing, JIANG Shuiqing, YUAN Baofeng   

  1. Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications， Beijing Institute of Spacecraft System Engineering， Beijing 100094
  • Online:2017-06-05 Published:2017-06-05

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摘要：

为了适应行星表面较大范围采样及系统减重需求，行星表面采样机械臂通常由细长的臂杆和多个旋转关节串联组成，柔性特征明显。针对4自由度行星采样机械臂，提出基于柔性补偿的控制策略，以提高机械臂的运动精度。基于混合坐标法建立考虑关节和臂杆弯曲变形的机械臂运动学模型，计算机械臂末端柔性偏差;设计机械臂末端笛卡尔空间加速度连续平滑的变加速-匀速-变减速的运动路径，并在期望路径中实时补偿柔性偏差项;基于simulationX软件，建立精细的动力学和关节控制器模型，对机械臂的典型任务进行仿真，验证控制算法的有效性。结果表明，采用柔性补偿的控制策略能够明显提高机械臂的动态跟踪精度及末端定位精度。

关键词: 机械臂, 控制, 行星表面, 柔性

Abstract:

The flexible feature of planetary surface sampling manipulator is obvious, since it usually consists of several slender arms and rotary joints in series, to meet the requirements of large area sampling and system weight optimization. A control strategy based on flexible compensation is proposed for the 4-DOF planetary surface sampling manipulator, to improve its motion precision. Based on hybrid coordinate method and considering bending deformation of joints and arms, the kinematics model of manipulator is established for calculating flexible deformation in real time. The variable acceleration-uniform motion-deceleration trajectory of manipulator tip in Cartesian space, while the acceleration is consistent and smooth, is planned with flexible deformation compensation. Models of dynamics and joint controller are established, to verify the effectiveness of the control strategy with the simulation of typical tasks of manipulator. The results show that the control strategy can obviously improves the dynamic tracing and tip location precision of manipulator.

Key words: control, manipulator, planetary surface, flexibility

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