空间双臂机器人抓捕非合作目标后的协调稳定控制

Due to the uncertain target inertia parameters and the internal stress at grasping points, excessive contact wrenches may be applied to the target at grasping points during the stabilization of the non-cooperative target, and therefore the safety of the dual-arm space robot end-effectors cannot be guaranteed. To solve this problem, a coordinated stabilization control scheme is proposed. The desired trajectory of the dual-arm space robot is coordinately adjusted to achieve compliant interactions at grasping points, where the contact wrenches can be reduced during the stabilization process. To realize this coordinated stabilization control, firstly, a desired trajectory is planned with inaccurate parameters of the target. Then, to achieve compliant interactions, a safe stabilization trajectory is obtained by adjusting the desired trajectory with the help of a dual loop structure constructed by compliant equations considering the influences of the uncertain inertia parameters and the internal stress respectively. Finally, to achieve the safe stabilization with compliant interactions, a barrier Lyapunov function based tracking controller is developed to coordinately control the dual-arm space robot, where the control performance can be restrained. The effectiveness and feasibility of the proposed coordinated stabilization control scheme are validated via digital simulations.