自由漂浮空间机器人点到点避奇异运动控制方法

doi:10.7527/S1000-6893.2018.22040

材料工程与机械制造

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自由漂浮空间机器人点到点避奇异运动控制方法

羊帆¹, 张国良², 张合新¹, 宋海涛¹

1. 火箭军工程大学导弹工程学院, 西安 710025;
2. 成都信息工程大学控制工程学院, 成都 610225

收稿日期:2018-01-23 修回日期:2018-02-26 出版日期:2018-09-15 发布日期:2018-04-26
通讯作者: 张国良 E-mail:zhangl@sohu.com

Control method of point-to-point singularity avoidance for free floating space robot

YANG Fan¹, ZHANG Guoliang², ZHANG Hexin¹, SONG Haitao¹

1. College of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025, China;
2. School of Control Engineering, Chengdu University of Information Technology, Chengdu 610225, China

Received:2018-01-23 Revised:2018-02-26 Online:2018-09-15 Published:2018-04-26

摘要/Abstract

摘要： 针对具有冗余机械臂的自由漂浮空间机器人（Free Floating Space Robot， FFSR）点到点避免奇异性规划和控制问题，提出了一种冗余FFSR的点到点避免奇异控制方法。首先，该方法基于离散状态依赖李卡提方程（DSDRE）控制器设计方法，利用FFSR的动力学和运动学方程实现了FFSR系统方程的伪线性重构；然后，基于伪线性重构系统及DSDRE状态调节器设计方法实现了FFSR的关节角速度和末端位姿的同时跟踪控制；其次，根据跟踪控制器对FFSR广义雅克比矩阵（GJM）行满秩的设计要求，定义FFSR的奇异性判别依据，构造了避奇异约束函数；再次，由于冗余FFSR系统具有多逆运动学解特点，考虑关节角及关节角速度约束，结合避奇异约束函数设计了FFSR的期望轨迹在线规划器，进一步将设计的跟踪控制器与规划器相结合提出了冗余FFSR末端点到点避奇异运动控制方法。最后，为验证所提方法的有效性同时考虑简化计算，采用平面4连杆FFSR模型进行数值仿真，仿真结果表明所提点到点避奇异运动控制方法能够有效实现冗余FFSR系统的点到点避奇异运动。

关键词: 自由漂浮空间机器人, 点到点运动控制, 离散状态依赖李卡提方程(DSDRE), 避奇异规划, 冗余机械臂

Abstract: A point-to-point singularity avoidance control method for the Free Floating Space Robot (FFSR) with the redundant manipulator is proposed in this paper. According to the Discrete State Dependent Riccati Equation (DSDRE) based controller design method, pseudo linear reconstruction of the FFSR system equation is realized by using the dynamic and kinematic equations for FFSR. Then, based on the pseudo linear equations and DSDRE state regulator design method, the tracking control of the joint angular velocity and effector's trajectory is realized. According to the requirements for full row rank of the Generalized Jacobian Matrix (GJM) in controller design, the singularity discrimination basis of FFSR is defined and the singular constraint function is constructed. Due to the characteristic of multi-inverse kinematics solutions for redundant FFSR systems, considering the constraints of joint angle and angular velocity, an online planner for FFSR's desired trajectory is designed with the constraint functions for singularity avoidance. A control method for point-to-point singularity avoidance is finally proposed by combining the designed tracking controller with the planner. To verify the effectiveness of the proposed method and simplify the computation, the planar 4-link FFSR model is used for numerical simulation. The simulation results show that the proposed method for point-to-point avoidance singularity control can effectively realize the avoidance of point-to-point singularity of redundant FFSR systems.

Key words: free floating space robot, point-to-point motion control, Discrete State Dependent Riccati Equation (DSDRE), avoidance singularity planning, redundant manipulator

中图分类号:

V448

羊帆, 张国良, 张合新, 宋海涛. 自由漂浮空间机器人点到点避奇异运动控制方法[J]. 航空学报, 2018, 39(9): 422040-422050.

YANG Fan, ZHANG Guoliang, ZHANG Hexin, SONG Haitao. Control method of point-to-point singularity avoidance for free floating space robot[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(9): 422040-422050.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

自由漂浮空间机器人点到点避奇异运动控制方法

Control method of point-to-point singularity avoidance for free floating space robot

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