Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque
Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque
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DOI：
10.1109/iros.2008.4650835
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发表时间：
2008-10
期刊：
影响因子：
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通讯作者：
Tomohisa Oki;H. Nakanishi;Kazuya Yoshida
中科院分区：
文献类型：
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作者：
Tomohisa Oki;H. Nakanishi;Kazuya Yoshida
本文研究了一种自由漂浮基空间机器人的时间最优机械臂控制策略，该控制策略对机械臂运动引起的反作用力矩具有约束。当空间机器人的操纵器被控制时，基体的旋转运动由反作用扭矩引起。假设反作用轮用于抵消反作用和稳定基座姿态，则要实现机器人的零基座转动，必须考虑反作用轮的力矩限制。本文讨论了自由漂浮基空间机器人的时间最优控制策略，考虑了机械手的任意预定路径和反作用力矩的动态约束。通过数值仿真验证了该策略与自由浮动空间机器人模型配备了一个7自由度（度的自由度）的机械手和系统的三个反作用轮。
This paper addresses a time-optimal manipulator control strategy of a free-floating space robot with constraint on reaction torque induced by the manipulator motion. When a manipulator of a space robot is controlled, rotational motion of the base body is induced by the reaction torque. Assuming that reaction wheels are used to cancel the reaction and to stabilize the base attitude, the torque limitation of the wheels should be considered in order to realize zero base rotation of the robot. In this paper, a time-optimal control strategy of a free-floating space robot is discussed considering an arbitrary prescribed path for the manipulator hand and the dynamic constraints on reaction torque. The strategy is verified by numerical simulation with a free-floating space robot model equipped with a 7DOF (degrees-of-freedom) manipulator and a system of three reaction wheels.