多臂空间机器人稳定抓取力分配和柔顺控制策略
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北京邮电大学 现代邮政学院(自动化学院),北京 100876

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E-mail: buptcg@163.com.

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TP242.3

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科工局稳定支持项目(HTKJ2019KL502012);国家自然科学基金项目(62173044);北京邮电大学博士生创新基金项目(CX2021119).


Force distribution and compliance control strategy for stable grasping of multi-arm space robot
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School of Modern Post (School of Automation),Beijing University of Posts and Telecommunications,Beijing 100876,China

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    摘要:

    针对影响多臂抓取稳定性的接触力不平衡和接触振动问题,提出多臂空间机器人力分配和柔顺控制策略.首先,分析满足多臂稳定抓取的力学条件,基于摩擦锥约束设计抓取力安全系数,并将其引入力优化模型进行抓取力分配,实现目标物体稳定抓取条件下受力最小;然后,分析抓取过渡过程的振动成因,设计基于动能消耗的末端输出力控制策略实现快速振动抑制和柔顺抓取;最后,设计机械臂末端控制律切换策略,一旦在抓取过渡过程中发生接触脱离可引导其快速返回物体表面.仿真结果表明,所提出方法提升了稳定抓取安全裕度,显著降低了机械臂末端的振动幅值、持续时间和接触力,提升了空间机器人多臂抓取目标操作的稳定性和柔顺性.

    Abstract:

    Aiming at the problem of unbalanced contact force and vibration that affects the grasping stability of multi-arm space robots, a force distribution and compliance control strategy is proposed. Firstly, the force balance conditions for stable grasping is analyzed, the safety factor based on the friction cone constraint is designed, which is then introduced into the force optimization model to distribute the grasping force, so as to minimize the force under the condition of stable grasping. Secondly, the causes of vibration in the grasping transition process are analyzed, then the end effector's output force control strategy based on kinetic energy consumption is designed to achieve rapid vibration suppression and compliant grasp. Furthermore, the control-law switching strategy is designed, so that once the contact-separation phenomenon occurs during the grasping transition process, the end effector can be quickly guided to return to the surface of the goal object. The simulation shows that the proposed method not only improves the stable grasping's safety margin, but also significantly reduces the vibration amplitude, duration and maximum contact force of the end effector, improving the stability and compliance of the multi-arm space robot for target grasping operations.

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陈钢,黄泽远,江涛,等.多臂空间机器人稳定抓取力分配和柔顺控制策略[J].控制与决策,2024,39(1):112-120

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  • 在线发布日期: 2023-12-14
  • 出版日期: 2024-01-20
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