深空探测学报
深空探測學報
심공탐측학보
Journal of Deep Space Exploration
2015年
1期
27-33
,共7页
梁常春%孙鹏飞%王耀兵%危清清%姜水清
樑常春%孫鵬飛%王耀兵%危清清%薑水清
량상춘%손붕비%왕요병%위청청%강수청
行星采样%柔性臂%运动优化
行星採樣%柔性臂%運動優化
행성채양%유성비%운동우화
sampling on planet%flexible manipulator%motion optimization
为适应行星表面较大范围的采样要求及系统减重的需求,采样机械臂通常是细长形臂杆加多关节组成的连杆型关节机械臂,这使得抑制柔性振动成为机械臂控制系统的研究重点。针对采样机械臂的工作过程,提出带抛物线过渡的平滑轨迹规划方法,即在运动过程中使加速度连续,避免关节转动的力矩突变,并且最大限度降低峰值。首先建立基于 D-H 法的机械臂运动学方程,然后在考虑臂杆及关节柔性的动力学模型环境下,进行变加速—匀速—变减速的笛卡尔空间加速度连续平滑轨迹规划运动,达到减小柔性臂振动、提高定位精度的目的。仿真结果表明,在运动规划中引入抛物线过渡的加速度连续环节、降低加速度冲击可以明显改善运动平稳性,对提高动态跟踪精度有直接作用。
為適應行星錶麵較大範圍的採樣要求及繫統減重的需求,採樣機械臂通常是細長形臂桿加多關節組成的連桿型關節機械臂,這使得抑製柔性振動成為機械臂控製繫統的研究重點。針對採樣機械臂的工作過程,提齣帶拋物線過渡的平滑軌跡規劃方法,即在運動過程中使加速度連續,避免關節轉動的力矩突變,併且最大限度降低峰值。首先建立基于 D-H 法的機械臂運動學方程,然後在攷慮臂桿及關節柔性的動力學模型環境下,進行變加速—勻速—變減速的笛卡爾空間加速度連續平滑軌跡規劃運動,達到減小柔性臂振動、提高定位精度的目的。倣真結果錶明,在運動規劃中引入拋物線過渡的加速度連續環節、降低加速度遲擊可以明顯改善運動平穩性,對提高動態跟蹤精度有直接作用。
위괄응행성표면교대범위적채양요구급계통감중적수구,채양궤계비통상시세장형비간가다관절조성적련간형관절궤계비,저사득억제유성진동성위궤계비공제계통적연구중점。침대채양궤계비적공작과정,제출대포물선과도적평활궤적규화방법,즉재운동과정중사가속도련속,피면관절전동적력구돌변,병차최대한도강저봉치。수선건립기우 D-H 법적궤계비운동학방정,연후재고필비간급관절유성적동역학모형배경하,진행변가속—균속—변감속적적잡이공간가속도련속평활궤적규화운동,체도감소유성비진동、제고정위정도적목적。방진결과표명,재운동규화중인입포물선과도적가속도련속배절、강저가속도충격가이명현개선운동평은성,대제고동태근종정도유직접작용。
In order to adapt to a wide range of planetary surface sample acquisition and requirements of weight optimization,manipulator usually consists of several slender arms and rotary joints.This makes the flexibility compensation and vibration suppression become research focus in the manipulator control system.In this paper,a smooth trajectory planning method with parabolic contour for sampling motion of manipulator is proposed.In the motion process acceleration is made to be continuous to avoid joint torque mutation and debase the peak value farthest.Firstly, the kinematic equations of manipulator based on D-H and dynamics model with flexible deformation of joints and arms are established. Then, the variable acceleration-uniform motion-deceleration trajectory is planned in Cartesian space,which acceleration is consistent and smooth.Finally,the typical tasks of manipulator are simulated. Results indicate that this method is useful to make acceleration of joint motion continuous.This control strategy can obviously improve dynamic tracking accuracy and position precision.