机器航天员轴孔装配过程中的力位混合控制方法

摘要

针对机器航天员轴孔装配任务高精度控制要求,提出一种考虑协调操作的力位混合控制方法.在建立含耦合分支的机器航天员动力学方程的基础上,推导轴孔装配过程中双臂协调操作运动约束关系,设计机器航天员考虑协调操作的力位混合控制方法,并通过仿真对控制方法的正确性和有效性进行校验.结果表明:利用本文提出的方法实现了对机器航天员轴孔装配过程中的双臂相对运动以及相互作用力的高精度控制;与传统的未考虑协调操作的力位混合控制方法相比,文中提出的方法在提高控制精度的同时缩短了操作时间,提高了轴孔装配效率.%To deal with the high accuracy requirements of peg-in-hole assembly task performed by the robonaut,a hybrid force/position control method considered coordinated operations is proposed.The dynamic model of the robonaut including the coupled trunk is established at first.Then,the motion constraint relationship between two manipulators is presented to design the hybrid force/position control method of the robonaut considered coordinated operations.A MATLAB simulation of the robonaut performing peg-in-hole assembly task verifies the correctness and effectiveness of the proposed method.The results show that the relative position and orientation and the interaction force between peg and hole can be control accurately by using the method proposed in this paper.Comparing with the traditional hybrid force/position control method which does not consider coordinated operations,the presented control method can reduce operation time while improving control accuracy.