基于互补问题描述单边接触的空间机器人动力学建模与数值仿真

针对弹簧-阻尼(spring-damp, SD)并联模型描述机器人接触作业时需要耗时调节刚度、阻尼系数, 并在接触末端额外安装力传感器等缺陷, 基于互补问题, 描述空间机械臂末端与目标的单边接触, 推导具有紧凑数学形式的空间机器人接触动力学模型。采用 Lemke 算法设计动力学模型的数值计算方法, 并通过数学仿真验证动力学模型的有效性。

Modeling and Simulation of Space Robot with Unilateral Contact Based on Complementary Problem

Traditionally, the contact between the end-effector and the target is modeled as a parallel spring-damp model, which requires a time-consumed tuning of values of stiffness and damping factor and an extra force sensor fixed on the end-effector. The above drawbacks inspire the application of complementary problem to uniformly describe the unilateral contact for space robot. A dynamical equation of the space robot with unilateral contact is derived, and a numerical method is developed utilizing the Lemke algorithm. By numerical calculation of a planar 3 degree-of-freedom (DOF) manipulator fastened on a 3 DOF floating base, the effectiveness of the dynamical model is verified.