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Adaptive reaction null-space control of dual-arm space robot for post-capture of non-cooperative target

机译：双臂空间机器人的自适应反应空空间控制，用于捕获非合作目标

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摘要

In this paper, a dual-arm space robot model is derived and an Adaptive Reaction Null Space (ARNS) motion control approach is proposed to satisfy the principal objective of maintaining a minimum disturbance to the base in the post-capture of a non-cooperative target. Since the target becomes an integral part of the manipulator after capture, the position and orientation of space base will be affected in an unknown way because of the dynamics coupling between the manipulator and space base. In addition, the amount of unknown angular momentum of a spinning target transferred to the space manipulator can lead the reaction wheels to their saturation state due to limitations on the available output torque. In order to overcome this problem, we develop a new concept, adaptive reaction null space control for a dual-arm space robot system, with one arm (mission arm) for accomplishing the capture mission and the other (balance arm) for compensating for the disturbance of the base. The mission arm can motion along with the trajectory of the target without consideration of the disturbance to space base. This algorithm is applied from the post-capture stage till the unknown parameters are identified. The adaptive algorithm is developed based on the momentum conservation of the system and the recursive least squares algorithm is employed for parameter adaption. The simulation results are presented to demonstrate the effectiveness of the proposed approach.
机译：在本文中，推导了双臂空间机器人模型，并且提出了一种自适应反应空间（ARNS）运动控制方法，以满足在非协作的后捕获中保持对基座的最小干扰的主要目标目标。由于目标成为捕获后的机械手的整体部分，因此由于操纵器和空间基础之间的动力学耦合，空间基座的位置和取向将受到未知方式的影响。另外，由于对可用输出扭矩的限制，转移到空间操纵器的纺纱目标的未知角动量的量可以引入反应轮引起其饱和状态。为了克服这个问题，我们开发了一种新的概念，适应性反应为双臂空间机器人系统的空间控制，具有一只臂（Mission ARM），用于完成捕获任务和其他（平衡臂）来补偿基地的干扰。任务臂可以与目标的轨迹一起运动，而不考虑对空间基础的干扰。该算法从后捕获阶段应用，直到识别未知参数。基于系统的动量守恒而开发了自适应算法，并且用于参数适应的递归最小二乘算法。提出了仿真结果以证明所提出的方法的有效性。

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