空间机械臂捕捉目标的碰撞力问题分析

411()Vol.41No.120091JOURNALOFSICHUANUNIVERSITY(ENGINEERINGSCIENCEEDITION)Jan.2009:100923087(2009)0120202207,(,150080):,,,,,:;;;:TP241.3:AResearchofSpaceManipulatorCapturingObjecttoImpulsiveForceCONGPei2chao,SUNZhao2wei(ResearchCenterofSatelliteTechnol.,HarbinUniv.ofTechol.,Harbin150080,China)Abstract:AconceptStraight2ArmCaptureandamethodofconfigurationplanningareproposed,whicharebasedonthemomentumconservationofspacemanipulator.Theconfigurationbyusingtheproposedmethodcanre2ducethecouplingmomentum,jointangularvelocityandtheburdenofcompoundcontrol,thenavoidsthelimitofjointvelocityandtorquewhencontrolthecompound.Finallythesimulationresultsshowthattheeffectivenessofthemethod.Keywords:spacemanipulator;configurationplanning;impact;couplingangularmomentum[1-4],,,,:,:2008-03-03:863(2005AA742014):(1980-),,.:.,,,,,,,(),,,,©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.,L.B.Wee,[5];Warker,[6],Yo2shikawa,[7];NenchevReactionnullspace[8-9],;Dimitar[10]BiasMomentumApproachDistributedMomentumControl,,,[11-12],,,,,,,,,,,,n,,,,1,,UmetaniYandYoshidaK[13]1,n,,IIOzi(xi+1)1Fig.1Themodelofspacemanipulator,,,HBHBmHBmHmxb+cBcm=FB+JTBJTmFh(1),HB=MEMrT0gMr0gH(R66),HBm=JTH0(R6n),H=ni=1(Ii+mirT0ir0i)+I0(R33),H=ni=1(IiJRi+mir0iJTi)(R3n),Hm=ni=1(JTRiIiJRi+miJTTiJTi)(Rnn),JT=ni=1miJTi/M(R3n),JTi=[k1(ri-p1),k2(ri-p2),,ki(ri-pi),0,,0](R3n),JRi=[k1,k2,,ki,0,,0](R3n),r0g=rg-r0(R3),r0i=ri-r0(R3),r=0-zyz0-x-yx0:mi3021,:©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.,M,rii,pii,kii,r0,rg,cB,cm,FB,Fh,,E,xb/,Iii2,,,,,,,,,,,P=ni=0mivi(2)L=ni=0(Iii+ri+mivi)(3)(2)(3)(4),PL=ME3Mr0gMrgIMv00+JTgI(4)(5),PL=HBv00+Hc+0r0P(5),HB=ME3MrT0gMr0gHM(R66),Hc=JTgH(R6n),,(5)v0,(6),L=HB0+HeÛ+rgP(6),HB=H-r0grT0g,Hc=H-r0gJTg[8]HcÛ,[9]HcÛ(6)(1),,H^+^c=^+J^TFh(7),H^=H-HTBmH-1BHBm,^c=cm-HTBmH-1BcB,^=-HTBmH-1BFB,J^Tm=JTm-HTBmH-1BJTB,,,0,,,L,,L,,,[9]C2,,,,,,,,,,,0,[9]C1,n,,2n,Co,xy,CC0C1C2Cn-1CnCs1n;E;1,2n-1n1,2,n,:1),;2);3)l1=l2,,2a=l402()41©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.:X1=a+l/2cos(1)Y1=l/2sin(1)(8)2C2:X2=a+lcos(1)+l/2cos(1+2)Y2=lsin()+l/2sin(1+2)(9)nCn:Xn=Xn-1+l/2[cos(n-1)+cos(n)]Yn=Yn-1+l/2[sin(n-1)+sin(n)](10),n=1+2++n,nE2Cs:Xs=m1X1+m2X2++mnXnm1+m2++mn=X1+X2++XnnYs=m1Y1+m2Y2++mnYnm1+m2++mn=Y1+Y2++Ynn(11)C:Xc=(m1+m2++mn)Xs+mo0(m1+m2++mn+mo)=nmXs(nm+mo)Yc=(m1+m2++mn)Ys+mo0(m1+m2++mn+mo)=nmYs(nm+mo)(12):XE=Xn+l/2cos(n)YE=Yn+l/2sin(n)(13)Co,Co(0,0);,,Ys-Y0Xs-X0=YE-X0XE-X0,,Y1+Y2++YnX1+X2++Xn=Yn+l/2sin(n)Xn+l/2cos(n),,=Y1+Y2++YnX1+X2++Xn=Yn+l/2sin(n)Xn+l/2cos(n)(14)12n,,L,LX,,=atan()(15)=[-(1+2)](16),,,=+(17),,,L,,(),,,,31,t=0.2s,Fh=10000N,=186(1516)1=302=-24(12),[9]ReactionNullSpace,3,5021,:©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(kgm2)1000.02.0333.31100.02.033.32100.02.033.331Fig.3Theresult1ofsimulation,1=302=-30,442Fig.4Theresult2ofsimulation,1=302=-18,5,:602()41©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.),,,,,3(abcd)2)ReactionNullSpace,,,3(cd),3)45,L,,,,,,,L,,L,,4,,,n,,,,,,,,,,,,(),,,:[1]OdaM.ExperiencesandlessonslearnedfromtheETS2VIIrobotsatellite[C]//Proceedingsofthe2000IEEEInterna27021,:©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(ICRA2000).SanFrancisco,CA.[2]KazuyaYoshida.Spacerobotdynamicsandcontroltoorbit,fromorbit,andfuture[C]//HollerbachJM,KoditschekDE.TheNinthInternationalSymposium,Springer,2000:449-456.[3]LindbergRE,LongmanRW,ZeddMF.Kinematicsandre2actionmomentcompensationforaspaceborneelbowmanip2ulator[C]//Proc24thAIAAAerospaceSciencesReno.Ne2vada.[4]DubowskyS,TorresMA.Pathplanningforspacemanipula2tortominimizespacecraftattitudedisturbances[C]//IEEEIntConRoboticsandAutom.SacramentoCA,1991:2552-2528.[5]WeeLB,WalkerMW.Onthedynamicsofcontactbetweenspacerobotsandconfigurationcontrolforimpactminimiza2tion[J].IEEETransonRobotandAutomat,1999,9:581-591.[6]WalkerMW,KimDM.Satellitestabilizationusingspaceleeches[C]//ProcIEEEAmerContrConf.SanDiego,CA,1990:1314-1319.[7]YoshidaK,NakanishiH,UenoH,etal.Dynamics,controlandimpedancematchingforroboticcaptureofanon2cooper2ativesatellite[J].AdvancedRobotics,2004,2(2):175-198.[8]NenchevDN,YoshidaK.Reactionnull2spacecontrolofflexiblestructuremountedmanipulatorsystems[J].IEEETransonRobot.andAutomat,1999,15(6):1011-1023.[9]NenchevDN,YoshidaK.Impactanalysisandpost2impactmotioncontrolissuesofafree2floatingspacerobotsubjecttoaforceimpulse[J].IEEETransOnRobotandAutomat,1999,15(3):548-557.[10]DimitrovD.Dynamicsandcontrolofspacemanipulatorsduringasatellitecapturingoperation[D].Tohoku:TohokuUniversity,2005.[11]MatunagaS,KanzawaT,OhkamiY.Rotationalmotion2damperforthecaptureofanuncontrolledfloatingsatellite[J].ContEngPractice,2001,9:191-205.[12]NakamuraY,SasakiF,NakasukaS.GuidanceandcontrolofTe