考虑空间系绳释放特性的空间绳系机器人协调耦合控制

针对空间绳系机器人的轨迹跟踪控制问题,提出考虑系绳释放特性的跟踪轨迹协调控制方法.该方法考虑系绳释放的动力学特性,在最优轨迹规划过程中将系绳释放速度作为一个规划量,将系绳释放机构的转矩作为一个控制输入,结合操作机器人上推力器控制输入设计协调耦合位姿控制器.该方法的优点是控制输入易于施加,可工程实现系绳协调控制.仿真结果表明,操作机器人能精确跟踪最优轨迹,末端误差为±0.1 m,且能有效跟踪期望姿态,精度在±0.2°.

Coordinated coupling control of tethered space robot for considering releasing characteristics of space tether

According to the tracking optimal trajectory control problem of the tethered space robot(TSR) for approaching the target, a coordinated coupling control method for considering releasing characteristics of the space tether is proposed. This method considers the dynamic characteristics of releasing tether, the releasing velocity of tether can be taken as planning input towards optimal trajectory planning, and the releasing mechanism torque can be seen as one control input. The 6-DOF coordinated coupling controller is designed with the help of thruster control input and releasing motor control input for tracking optimal trajectory and desired attitude. It is easy to impose and achieve engineering application for the auxiliary control of the space tether by utilizing the proposed method. The simulation results show that the TSR can track optimal trajectory accurately, and the terminal error is ±0.1 m. Furthermore, the TSR can track the desired attitude effectively, and the error is ±0.2^°.