Resolved Motion Rate Control of Space Robotic Manipulators with Generalized Jacobian Matrix
Resolved Motion Rate Control of Space Robotic Manipulators with Generalized Jacobian Matrix
复制标题
广义雅可比矩阵空间机器人操纵器的解析运动速率控制
DOI：
10.7210/jrsj.7.327
复制
发表时间：
1989
期刊：
影响因子：
--
通讯作者：
Kazuya Yoshida
中科院分区：
文献类型：
--
作者：
Y. Umetani;Kazuya Yoshida
近年来，空间作为机器人技术的一个新的应用领域引起了人们的极大兴趣。安装了空间机械手的机器人遥操作系统将在未来的空间项目中发挥重要作用，如建造空间结构或为卫星提供服务。然而，在空间环境中，缺乏固定的基座给空间机器人系统的控制带来了许多问题。通常，机械臂的任何运动都会产生反作用力和力矩，这些反作用力和力矩会对支撑基地卫星的位置和姿态产生扰动。为了建立考虑机械臂与基座卫星动力学相互作用的空间机械臂控制方法，将动量守恒定律引入到空间机械臂自由飞行多关节系统的运动学研究中，推导出空间机械臂新的广义雅可比矩阵。借助于新的矩阵，他们提出了一种基于分解的运动速率控制概念的空间机械臂控制方法。该方法不仅适用于自由飞行操纵问题，也适用于姿态控制问题。以机器人卫星模型为例进行了计算机仿真，验证了该方法的有效性。
In recent years, space has attracted special interest as a new application field of robotics. A robotic teleoperator system installed with space manipulators will play an important role in future space projects, such as constructing space structures or servicing satellites. However, in space environment, the lack of a fixed base arises many problems in controlling space robotic systems. In general, any motion of the manipulator arm will induce reaction forces and moments which disturb position and attitude of the supporting base satellite. To establish a control method for space manipulators taking dynamical interaction between the manipulator arm and the base satellite into account, the authors investigate the kinematics of free-flying multi-jointed link systems by introducing the momentum conservation law into the formulation and derive a new Jacobian matrix in generalized form for space robotic arms. By means of the new matrix, they develop a control method for space manipulators based on the resolved motion rate control concept. The proposed method is widely applicable for not only free-flying manipulation problems but also attitude control problems. The validity of the method is demonstrated by computer simulations with a realistic model of robot satellite.