在轨服务双臂空间机器人参数辨识研究

本文以在轨服务自由漂浮空间双臂机器人为研究对象,研究了机器人本体和所抓取未知目标卫星的参数辨识问题。利用卫星自身携带的测速敏感器测得卫星本体质心以及操作臂的线速度及角速度,基于线动量及角动量守恒方程即可对双臂机器人本体和未知目标卫星进行未知参数的辨识。本文首先对空间机器人模型进行符号推导;然后研究了机器人的参数对辨识研究的影响;最后分析了参数辨识的影响因素。本参数识别方法的可行性以及效果在地面实验室中得到验证。

Parameter Identification of On-Orbit-Servicing Dual-Arm Space Robot

The parameter identification methods for inertial parameters of the base and unknown object handled by manipulators on a free-floating space robot were concerned in this paper. The parameter identification is necessary for precise control because the payload changes the kinematics of the system together with the dynamics. Firstly, parameter identification of the base was studied based on the conservation principle of linear and angular momentum, then parameter identification of the unknown object handled by manipulators is considered based on the parameter of base. The feasibility of the parameter identification methods is demonstrated by a hardware experiment on the ground as well as numerical simulation.