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.
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
.
DOI: 10.7527/S1000-6893.2018.22040
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