自由漂浮空间机器人关节故障锁定位置辨识

摘要

This paper concerns with the joint failure identification problem of the free-floating space robot.Joint failure considered in this paper is the joint-locked failure.Firstly,the mapping mechanism between joint fault position and velocity of the satellite base is deduced based on linear momentum conservation and angular momentum conservation of the system.Then the Chaotic Particle Swarm Optimization (CPSO) algorithm is used to search the joint-locked position.At last,the virtual prototype of the system is built and the measurement data of the system is obtained by dynamic simulation.The measurement data is used to validate the feasibility of the failure identification method in this paper.%针对自由漂浮空间机器人在关节故障情况下关节锁定位置的辨识问题,根据其线动量守恒和角动量守恒特性,建立了关节故障锁定位置辨识的误差模型,提出了利用混沌粒子群优化(cPso)搜索关节故障位置的辨识算法.最后采用虚拟样机技术,建立了空间机器人系统的虚拟样机,对空间机器人系统进行动力学仿真,获取了运动数据,采用此数据对提出的关节故障位置辨识算法进行了有效性验证.