中国空间科学技术

中国空间科学技术 ›› 2023, Vol. 43 ›› Issue (2): 144-154.doi: 10.16708/j.cnki.1000-758X.2023.0029

• 论文 • 上一篇    下一篇

柔性基座冗余机械臂的最优反作用控制

尹旺，王翔，王为，刘冬雨   

  1. 北京空间飞行器总体设计部，北京100094
  • 出版日期:2023-04-25 发布日期:2023-03-13

Optimal reaction control for the flexible base redundant manipulator system

YIN Wang，WANG Xiang，WANG Wei，LIU Dongyu   

  1. Beijing Institute of Spacecraft System Engineering，Beijing 100094，China
  • Published:2023-04-25 Online:2023-03-13

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摘要： 针对柔性基座冗余机械臂的末端轨迹跟踪问题，提出一种反作用最优控制方法，该算法将轨迹跟踪视为高优先级任务，而反作用优化控制在高优先级任务零空间内进行。由于冗余机械臂的自运动能在不影响末端运动的前提下改变关节运动，利用冗余机械臂的自运动消除振动系统中的低阶模态力，使机械臂在完成轨迹跟踪的同时激起的弹性振动大幅减小，从而提高了系统的稳定性。以平面3自由度柔性基座机械臂和空间7自由度柔性基座机械臂为例进行数值仿真，证实了方法的有效性。

关键词: 柔性基座, 冗余机械臂, 自运动, 反作用优化, 振动抑制, 轨迹跟踪

Abstract:  An optimal reaction control method was proposed for the trajectory tracking problem of the end effector of flexible base redundant manipulator systems.In the proposed algorithm，trace tracking is regarded as a high-priority task and the optimization of reaction control is implemented in the null-space of high-priority task.The self-motion of redundant manipulator can alter joint motion without affecting the motion of the end-effector，and can nullify the dominant modal force of vibrating system.Therefore，the vibration of base excited by rigid body motion is reduced greatly when the manipulator tracks specific trajectory.As a result，the stability of systems is improved.The effectiveness of the proposed algorithm is confirmed through numerical simulation with three-link manipulators and seven-DOF space manipulators with flexible base.

Key words: flexible base, redundant manipulator, self-motion utilization, optimal reaction, vibration suppression, trajectory tracking