Control strategies for hardware-in-the-loop simulation of flexible space robots
Control strategies for hardware-in-the-loop simulation of flexible space robots
复制标题
柔性空间机器人半实物仿真控制策略
DOI：
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发表时间：
2000
期刊：
影响因子：
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通讯作者：
J. Piedboeuf
中科院分区：
文献类型：
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作者：
J. Carufel;E. Martin;J. Piedboeuf
作为国际空间站(ISS)的合作伙伴，加拿大负责核查涉及专用灵巧机械手(SPDM)的所有任务。这些验证不能仅使用软件模拟器进行，因为现有接触动力学模型的准确性还有待确认，特别是在验证人工操作过程所需的实时模式下。一种选择是使用硬件在环仿真(HLS)，其中空间硬件被模拟，接触动力学被使用执行任务的刚性机器人来模拟。这种方法的主要困难是在控制回路的稳定性和良好性能之间的权衡。研究了合肥光源中刚性机器人的控制问题。当接触发生时，用简化的线性系统来确定经典的基于位置的控制的局限性。提出了一种从动机器人加速驱动的新控制方案。两种方法都进行了实验测试，结果表明采用这种新的加速度控制方法是有效的。
As a partner in the International Space Station (ISS), Canada is responsible for the verification of all tasks involving the special purpose dextrous manipulator (SPDM). Those verifications cannot be performed using software simulators only since the accuracy of existing contact dynamic models are yet to be confirmed, especially in the real-time mode required for verifying human operated processes. One option is to use a hardware-in-the-loop simulation (HLS), where the space hardware is simulated and the contact dynamics is emulated using a rigid robot performing the tasks. The main difficulty in this approach is the trade-off between the stability of the control loop and good performance. The control of the rigid robot in the HLS is investigated. Simplified linear systems are used to determine the limitations of the classical position-based control when contact occurs. A new control scheme in which the slave robot is driven in acceleration is proposed. Both methods were tested experimentally and the results show the benefit of using this new acceleration control approach.