漂浮基刚-柔协作多臂空间机器人动力学与协调控制方法研究

The rigid-flexible cooperative multi-arm space robot combining the traditional articulated arm and the new continuum arm realizes the "hardness with softness" and greatly enhances the space robot's on-orbit service capability, which is an important development direction of the space robot. However, compared with the traditional multi-arm space robot, the rigid-flexible cooperative multi-arm space robot system is more complicated, and the coordination control between the articulated arm and the continuum arm is more difficult, which leads to the need to improve the relevant theory. Aiming at the complex dynamic description and coordination control problems of the coordinated maneuvering target of the articulated manipulator and the continuous manipulator in the orbit under the coupling of the floating base, this project intends to carry out research including: the coupling dynamics and coupling characteristics of the rigid-flexible cooperative multi-arm system, rigid-flexible cooperative multi-arm coordinated motion and control method under multi-constraint conditions, and rigid-flexible cooperative multi-arm system stable coordinated control method under closed-chain constraints. The subject aims to make breakthroughs in the complex dynamics description and coupling mechanism of various types of manipulator coexistence systems, and the coordination planning and control theory between different manipulators under dynamic tight coupling constraints, to provide theoretical support for rigid-flexible cooperative multi-arm space robots in orbit applications. The research results of the subject have important theoretical and practical significance for complex orbital service tasks such as complex spacecraft maintenance, on-orbit assembly, and rail garbage cleaning.

融合传统关节型机械臂和新型连续体机械臂的刚-柔协作多臂空间机器人实现“刚柔并济”，大大增强空间机器人在轨服务能力，是空间机器人重要发展方向。但相比于传统多臂空间机器人，刚-柔协作多臂空间机器人系统更加复杂，关节型机械臂与连续体机械臂之间协调控制难度更大，相关理论亟待完善。针对漂浮基耦合约束下关节型机械臂与连续型机械臂在轨协调操控目标面临的复杂动力学描述及协调控制难题，本课题拟开展刚-柔协作多臂系统耦合动力学与耦合特性、多约束条件下刚-柔协作多臂协调运动与控制方法、闭链约束下刚-柔协作多臂系统稳定协调控制方法等方面的研究。课题旨在多种类型机械臂共存系统复杂动力学描述与耦合机理、动力学紧耦合约束下不同特性机械臂之间协调规划与控制理论方面取得突破，为刚-柔协作多臂空间机器人在轨应用提供理论支撑。课题研究成果对复杂航天器维护、在轨装配、轨道垃圾清理等复杂在轨服务任务，具有重要的理论和实际意义。

融合传统关节型机械臂和新型连续体机械臂的刚-柔协作多臂空间机器人实现“刚柔并济”，大大增强空间机器人在轨服务能力，是空间机器人重要发展方向。但相比于传统多臂空间机器人，刚-柔协作多臂空间机器人系统更加复杂，关节型机械臂与连续体机械臂之间协调控制难度更大，相关理论亟待完善。本课题针对漂浮基耦合约束下关节型机械臂与连续型机械臂在轨协调操控目标面临的复杂动力学描述及协调控制难题，开展研究并取得一定研究成果，包括：（a）建立了自由漂浮模式下刚柔协作双臂空间机器人系统的运动学和动力学模型，为动力学特性分析及规划控制提供基础。（b）建立了连续型空间机械臂系统的虚拟机械臂和基座质心等效机械臂模型。对刚柔协作双臂空间机器人系统开展了动力学耦合建模，并从机械臂安装方式、机械臂构型和机械臂类型三个方面深入地分析了双臂对漂浮基座的动力学耦合影响，为系统的设计和规划提供了理论基础。（c）提出了一种基于任务优先级的双臂协同规划方法，实现刚柔双臂同时运动完成目标捕获任务，以减少漂浮基座所受到的耦合扰动影响。（d）建立了闭链约束下刚-柔协作多臂空间机器人系统动力学方程，并提出基于振动波传递原理的振动抑制方法，实现基座姿态调整的同时消除系统大幅振动。. 课题研究成果对复杂航天器维护、在轨装配、轨道垃圾清理等复杂在轨服务任务，具有重要的理论和实际意义。

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