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Novel reaction control techniques for redundant space manipulators: Theory and simulated microgravity tests

机译：冗余空间机械手的新型反应控制技术：理论和模拟微重力测试

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This paper presents two novel redundancy resolution schemes aimed at locally minimizing the reaction torque transferred to the spacecraft during manipulator manoeuvres. The subject is of particular interest in space robotics because reduced reactions result in reduced energy consumption and longer operating life of the attitude control system. The first presented solution is based on a weighted Jacobian pseudoinverse and is derived by using Lagrangian multipliers. The weight matrix is defined by means of the inertia matrix which appears in the spacecraft reaction torque dynamics. The second one is based on a least squares formulation of the minimization problem. In this formulation the linearity of the forward kinematics and of the reaction torque dynamics equations with respect to the joint accelerations is used. A closed-form solution is derived for both the presented methods, and their equivalence is proven analytically. Moreover, the proposed solutions, which are suitable for real-time implementation, are extended in order to take into account the physical limits of the manipulator joints directly inside the solution algorithms. A software simulator has been developed in order to simulate the performance of the presented solutions for the selected test cases. The proposed solutions have then been experimentally tested using a 3D free-flying robot previously tested in an ESA parabolic flight campaign. In the test campaign the 3D robot has been converted in a 2D robot thanks to its modularity in order to perform planar tests, in which the microgravity environment can be simulated without time constraints. Air-bearings are used to sustain the links weight, and a dynamometer is used to measure the reaction torque. The experimental validation of the presented inverse kinematics solutions, with an insight on the effect of joint flexibility on their performance, has been carried out, and the experimental results confirmed the good performance of the proposed methods. In particular, two test cases have been analyzed in order to validate and evaluate the performance of both the unconstrained solution and the solution which takes into account the robot physical limits.
机译：本文提出了两种新颖的冗余解决方案，旨在局部最小化操纵器操纵过程中传递到航天器的反作用转矩。由于空间反应减少导致姿态控制系统的能量消耗减少和使用寿命延长，因此该主题在太空机器人领域特别受关注。提出的第一个解决方案基于加权的Jacobian伪逆，并通过使用拉格朗日乘子得​​出。权重矩阵是通过出现在航天器反作用转矩动力学中的惯性矩阵定义的。第二个是基于最小化问题的最小二乘公式。在此公式中，使用了前向运动学和反作用转矩动力学方程相对于关节加速度的线性关系。对于这两种提出的方​​法都得出了一种封闭形式的解决方案，并且其等效性已通过分析证明。此外，扩展了所提出的适合实时实现的解决方案，以考虑到解决方案算法内部直接的机械手关节的物理限制。为了模拟所选择的测试案例所提出的解决方案的性能，已经开发了一个软件模拟器。然后，使用先前在ESA抛物线飞行活动中测试过的3D自由飞行机器人对提出的解决方案进行了实验测试。在测试活动中，由于其模块化，3D机器人已经转换为2D机器人，以便执行平面测试，在该测试中可以模拟微重力环境而没有时间限制。空气轴承用于承受链节的重量，测力计用于测量反作用扭矩。进行了逆运动学解决方案的实验验证，并深入了解了关节柔韧性对其性能的影响，实验结果证实了所提出方法的良好性能。尤其是，已经分析了两个测试用例，以验证和评估无约束解决方案以及考虑了机器人物理限制的解决方案的性能。

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