基于柔性补偿的行星表面采样机械臂控制策略研究

发布时间：2018-05-07 04:16

本文选题：柔性 + 行星表面　；参考：《机械工程学报》2017年11期

【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simulation X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。
[Abstract]:In order to meet the need of large range sampling and system weight loss on planetary surface, the planetary surface sampling manipulator is usually composed of long slender arms and several rotating joints in series, and the flexible characteristics are obvious. A control strategy based on flexible compensation is proposed to improve the motion accuracy of a 4-DOF planetary sampled manipulator. Based on the hybrid coordinate method, the kinematics model of the manipulator considering the bending deformation of the joint and the arm rod is established, and the flexible deviation at the end of the manipulator is calculated. The motion path of variable acceleration, uniform velocity and variable deceleration at the end of the manipulator is designed, and the flexible deviation term is compensated in real time in the desired path. Based on simulation X software, the precise dynamic and joint controller model is established. The typical tasks of the manipulator are simulated to verify the effectiveness of the control algorithm. The results show that the dynamic tracking accuracy and the terminal positioning accuracy of the manipulator can be improved obviously by using the flexible compensation control strategy.
【作者单位】：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;
【基金】：国家高技术研究发展计划资助项目(973计划,2013CB733000)
【分类号】：TP241

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