基于干扰观测器的柔性空间机器人在轨精细操作控制方法

doi:10.7527/S1000-6893.2020.23899

Abstract

Abstract: Due to characteristics such as strong nonlinearity, strong coupling and strong time-variation, the subtle stability control of flexible space robots has always been a major challenge. Limited by space and weight, the joint flexibility of lightweight miniaturized robots cannot be ignored, which is mainly caused by the flexibility of the harmonic reducer and the torque sensor. Traditional kinematics control can keep it stable in no-load states, while has poor adaptability to large loads and fast movement. In serious situations, the manipulator shakes violently, or even diverges. In view of the above problems, this paper proposes a precise operation control method for on-orbit flexible joint space robots based on a nonlinear disturbance observer and dynamics pole assignment. The simulation results show that this method can effectively suppress the flexible excitation, and ensure the rapidity and accuracy of the response; moreover, with good robustness, it can adapt to the influence of different types of disturbances and the requirements of terminal environment compliance control, providing reference for engineering application.

Key words: disturbance observers, flexible joints, space robots, dynamics control, on-orbit precise control

CLC Number:

V19
TP242

LIU Jinglong, ZHANG Chongfeng, ZOU Huaiwu, LI Ning, WU Linna. On-orbit precise operation control method for flexible joint space robots based on disturbance observer[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 523899-523899.

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On-orbit precise operation control method for flexible joint space robots based on disturbance observer

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