摘要
针对柔性基座双空间机械臂紧耦合协同过程中面临的对物体内/外力的柔顺响应、基座的振动抑制以及双臂避碰等问题,提出了一种反作用最优协同阻抗控制方法。首先建立了柔性基座双空间机械臂的紧耦合系统模型。然后,利用物体级阻抗控制器和末端执行器级阻抗控制器分别实现了双空间机械臂对物体所受外力和内力的柔顺响应。然后,利用基座能量衰减最优控制和人工势场法得到了双空间机械臂的最优零空间自运动向量,通过双冗余空间机械臂的零空间自运动同时实现了基座振动抑制和双臂间的避碰。最后,在动力学仿真软件中验证了协同阻抗控制方法在解决物体内/外力柔顺响应、基座振动抑制、双臂避碰问题上的有效性。
An optimal reaction cooperative impedance control method is proposed for the compliant response to the internal/external force of the object,vibration suppression of the base,and collision avoidance of the two arms,which are faced during the tightly-coupled cooperative operation of the flexible based dual-arm space manipulator.Firstly,a system model of the tightly-coupled flexible based dual-arm space manipulator is established.Then,the compliant response to the external and internal forces applied to the object is realized by using an object-level impedance controller and an endeffector-level impedance controller,respectively.Then,the optimal self-motion vector in the null space of the dual-arm space manipulator is obtained by using the optimal control of the base energy dissipation and the artificial potential field method.The vibration suppression of the base and the collision avoidance between the two manipulators are realized simultaneously through the null space self-motion of the redundant space manipulator.Finally,the effectiveness of the cooperative impedance control method in solving the compliant response of internal/external force of the object,vibration suppression of the base,and dual-manipulator collision avoidance problems is verified in the dynamics simulation software.
作者
张家维
白成超
郭继峰
ZHANG Jiawei;BAI Chengchao;GUO Jifeng(School of Astronautics,Harbin Institute of Technology,Harbin 150001,China)
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2024年第7期1111-1122,共12页
Journal of Astronautics
基金
中国科协青年人才托举工程(2021QNRC001)
黑龙江省自然科学基金优秀青年基金(YQ2022F012)
思源联盟开放基金(HTKJ2022KL012003)
中央高校基本科研业务费专项资金资助(HIT.OCEF.2023010)。
关键词
双空间机械臂
柔性基座
阻抗控制
振动抑制
人工势场
Dual-arm space manipulator
Flexible base
Impedance control
Vibration suppression
Artificial potential field
作者简介
通信作者:张家维(1998-),男,博士生,主要从事机械臂运动规划、智能控制等方面的研究。通信地址:哈尔滨市南岗区一匡街2号哈尔滨工业大学科学园基础科研楼(150001)电话:(0451)86412766 E-mail:j.zhang@stu.hit.edu.cn;白成超(1990-),男,博士,教授,主要从事空间智能无人系统、多智能安全强化学习等方面的研究。通信地址:哈尔滨市南岗区一匡街2号哈尔滨工业大学科学园基础科研楼(150001)电话:(0451)86412766 E-mail:baichengchao@hit.edu.cn;郭继峰(1977-),男,博士,教授,主要从事智能感知与自主规划、集群博弈等方面的研究。通信地址:哈尔滨市南岗区一匡街2号哈尔滨工业大学科学园基础科研楼(150001)电话:(0451)86412766 E-mail:guojifeng@hit.edu.cn。
