Force/Pose Impedance Control for Space Manipulator Orbit Insertion and Extraction

doi:10.3901/JME.2022.03.084

Abstract

Abstract: It has become an inevitable trend to use space manipulator for orbit assembly, maintenance and fuel filling, and the insertion and extraction is the basis to achieve the above tasks. The impedance control problems for space manipulator orbit insertion and extraction are discussed. Firstly, the dynamic equation of system is derived when the pose of the carrier are not controlled, and the impedance control model is established based on the dynamic relationship between the pose, the driving force, and the impedance control principle. Then, aiming at the uncertainty of dynamics and the external disturbance, based on the event triggered mechanism, an event triggering sliding mode impedance control strategy is designed to control the space manipulator. The stability of the control system is proved through Lyapunov theory. The mechanism of the control strategy is:when the system is stable, the control input is not updated; when the system tends to be unstable, the control input is updated. For the control law does not need to be updated at all times, the amount of data transmitted and calculated in the system is less, it is more suitable for the limited computing and storage capacity of the space station computer. The numerical simulation verifies the effectiveness of the control strategy.

Key words: space manipulator, orbit, insertion and extraction, event triggering mechanism, sliding mode impedance control

CLC Number:

TP242

ZENG Chendong, AI Haiping, CHEN Li. Force/Pose Impedance Control for Space Manipulator Orbit Insertion and Extraction[J]. Journal of Mechanical Engineering, 2022, 58(3): 84-94.

References

[1] BRIAN I,MARCO P. Robot motion planning in learned latent spaces[J]. IEEE Robotics and Automation Letters,2019,4(3):2407-2414.
[2] 王从庆,张承龙. 自由浮动柔性双臂空间机器人系统的动力学控制[J]. 机械工程学报,2007,43(10):196-200. WANG Congqing,ZHANG Chenglong. Dynamic control of a free-floating flexible dual-arm space robotic system[J]. Journal of Mechanical Engineering,2007,43(10):196-200.
[3] MALIK M A,JUREK Z S. Guidance and control of a robot capturing an uncooperative space target[J]. Journal of Intelligent and Robotic Systems,2019,93(3):713-721.
[4] ALEXANDER P,THOMAS N,SANDRA H,et al. Dynamically consistent online adaptation of fast motions for robotic manipulators[J]. IEEE Transactions on Robotics,2018,34(1):166-182.
[5] PENG J Q,XU W F,PAN E Z,et al. Dual-arm coordinated capturing of an unknown tumbling target based on efficient parameters estimation[J]. Acta Astronautica,2019,162:589-607.
[6] 郭闻昊,王天舒. 空间机器人抓捕目标星碰撞前构型优化[J]. 宇航学报,2015,36(4):390-396. GUO Wenhao,WANG Tianshu. Pre-impact configuration optimization for a space robot capturing target satellite[J]. Journal of Astronautics,2015,36(4):390-396.
[7] 董楸煌,陈力. 双臂空间机器人捕获非合作目标冲击效应分析及闭链混合系统力/位形鲁棒镇定控制[J]. 机械工程学报,2015,51(9):37-44. DONG Qiuhuang,CHEN Li. Impact effect analysis of dual-arm space robot capturing a non-cooperative target and force/position robust stabilization control for closed-chain hybrid system[J]. Journal of Mechanical Engineering,2015,51(9):37-44.
[8] YOSHIDA K,NAKANISHI H,UENO H,et al. Dynamics control and impedance matching for robotic capture of a non-cooperative satellite[J]. Advanced Robotics,2004,2(2):175-198.
[9] HUANG P F,WANG M,MENG Z J,et al. Attitude takeover control for post-capture of target spacecraft using space robot[J]. Aerospace Science and Technology,2016,51:171-180.
[10] GASBARRI P,PISCULLI A. Dynamic/control interactions between flexible orbiting space-robot during grasping,docking and post-docking manoeuvres[J]. Acta Astronautica,2015,110:225-238.
[11] GANGAPERSAUD R A,LIU G J,RUITER A H. Detumbling of a non-cooperative target with unknown inertial parameters using a space robot[J]. CEAS Space Journal,2019,63(12):3900-3915.
[12] HOGAN N. Stable execution of contact tasks using impedance control[C]//IEEE International Conference on Robotics and Automation,Raleigh,North Carolina,USA,1987:1047-1054.
[13] 于潇雁,陈力. 漂浮基柔性两杆空间机械臂基于状态观测器的鲁棒控制及振动控制[J]. 机械工程学报,2016,52(15):28-35. YU Xiaoyan,CHEN Li. Observer based robust control and vibration control for a free-floating flexible space manipulator[J]. Journal of Mechanical Engineering,2016,52(15):28-35.
[14] WANG M M,LUO J J,YUAN J P,et al. Detumbling strategy and coordination control of kinematically redundant space robot after capturing a tumbling target[J]. Nonlinear Dynamics,2018,92:1023-1043.
[15] LUO J,WEI C,DAI H,et al. Robust inertia-free attitude takeover control of post capture combined spacecraft with guaranteed prescribed performance[J]. ISA Transactions,2018,74:28-44.
[16] SU H,HU Y B,HAMID R K,et al. Improved recurrent neural network-based manipulator control with remote center of motion constraints:Experimental results[J]. Neural Networks,2020,131:291-299.
[17] 谢立敏,陈力. 漂浮基柔性关节、柔性臂空间机器人动力学建模、饱和鲁棒模糊滑模控制及双重柔性振动主动抑制[J]. 机械工程学报,2015,51(1):76-82. XIE Limin,CHEN Li. Modeling,saturation robust fuzzy sliding control and vibration suppression of free-floating flexible-joint flexible-link space robot[J]. Journal of Mechanical Engineering,2015,51(1):76-82.
[18] VINCENT L,EMMANUEL M,FRANCK P,et al. Discrete predictor-based event-triggered control of networked control systems[J]. Automatica,2019,107:281-288.
[19] OUIMET M,IGLESIAS D,AHMED N,et al. Cooperative robot localization using event-triggered estimation[J]. Journal of Aerospace Computing Information and Communication,2018,15(7):427-449.
[20] ISLAM S,LIU X P. Robust sliding mode control for robot manipulators[J]. IEEE Transactions on Industrial Electronics,2011,58(6):2444-2453.