摘要
空间机械臂是在轨进行舱外巡检、航天员辅助出舱的关键活动机构,其在轨操作的运动过程需要在地面进行预先规划生成运动控制指令,再通过数字仿真与推演对运动控制指令进行验证,以确保机械臂操作全程的安全性和高效性。针对上述问题,本文主要从运动空间限制、运动速度限制和关节力矩限制等方面设计了地面仿真验证框架,提出了基于运动学与动力学建模、运动空间与碰撞关系分析的仿真验证策略,给出了关节运动、关节力矩和碰撞安全距离的计算方法以及超限检测与风险判断的准则,最后通过对关节超限检测、速度超限检测、力矩超限检测、碰撞检测与风险预估的仿真实验,证明了空间机械臂运动控制的地面仿真验证方法的有效性。
Space manipulator is a key mechanism for on‑orbit inspection outside capsule and assisted astronaut extravehicular activities.In order to ensure the safety and efficiency of the whole process of manipulator operation,the motion process of on‑orbit operation needs to be planned in advance on the ground to generate motion control commands,and then the motion control commands are verified by digital simulation and deduction.Because of such problems,this paper mainly designs the ground simulation verification framework from the motion space limitation,motion speed limitation and joint torque limitation,proposes a simulation verification strategy based on kinematics and dynamics modeling and analysis of the relationship between motion space and collision,and gives the calculation methods of joint motion,joint torque and contact safety distance,as well as the criteria of over limit detection and risk judgment.Finally,through joint position overrun detection,velocity overrun detection,torque overrun detection,contact detection and safety distance calculation,the control command of space manipulator is effectively verified by ground simulation experiment.
作者
刘茜
刘传凯
朱安
谢珊珊
吴杰
孙军
张楠
曾晓旭
张宽
张济韬
李立春
LIU Qian;LIU Chuankai;ZHU An;XIE Shanshan;WU Jie;SUN Jun;ZHANG Nan;ZENG Xiaoxu;ZHANG Kuan;ZHANG Jitao;LI Lichun(Beijing Aerospace Control Center,Beijing 100094,China;Key Laboratory of Science and Technology on Aerospace Flight Dynamics,Beijing 100094,China;School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China;Department of Space Systems,Beijing 100080,China;School of Modern Post(School ofAutomation),Beijing University of Posts and Telecommunications,Beijing 100876,China)
出处
《南京航空航天大学学报》
CAS
CSCD
北大核心
2022年第1期58-67,共10页
Journal of Nanjing University of Aeronautics & Astronautics
基金
国家自然科学基金(61972020,62003025)
装备预研国防科技重点实验室基金(19KY1208,6142210200307)
航天装备研究(TJ20191A020030,TJ20191C080221)。
关键词
空间机械臂
地面遥操作
运动控制验证
超限检测
碰撞检测
space manipulator
ground teleoperation
motion control verification
overrun detection
contact detection
