串联并联混合空间机器人装配过程中的阻抗控制

IF 3.1 2区物理与天体物理 Q1 ENGINEERING, AEROSPACE

Acta Astronautica Pub Date : 2025-03-24 DOI:10.1016/j.actaastro.2025.03.016

Quan An , Yao Zhang , Xuchao Huang , Hao Li , Xinhui Xia

{"title":"串联并联混合空间机器人装配过程中的阻抗控制","authors":"Quan An , Yao Zhang , Xuchao Huang , Hao Li , Xinhui Xia","doi":"10.1016/j.actaastro.2025.03.016","DOIUrl":null,"url":null,"abstract":"<div><div>This article presents the impedance control method for a serial-parallel hybrid space robot system (HSRS) including a robotic arm and a parallel platform in Stewart configuration, and achieves compliance and stability during assembly operations. In this article, the dynamic model of the HSRS is established firstly with considering the influence of external forces, which is the foundation of subsequent research. Afterwards, the impedance control method of the HSRS is implemented by analyzing its dynamic coupling effect. Based on that, the compliance assembly operation is achieved by the coordination between the robotic arm and the parallel platform. The correctness of the HSRS dynamic model is demonstrated through the theorem of momentum and closed-chain constraint equations. The effectiveness of the impedance control method is verified through a simulation of modules assembly. Moreover, the operational abilities of traditional serial space robot and the HSRS are compared by introducing external disturbances. Simulation results show the efficiency of the HSRS.</div></div>","PeriodicalId":44971,"journal":{"name":"Acta Astronautica","volume":"232 ","pages":"Pages 316-329"},"PeriodicalIF":3.1000,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Impedance control in serial-parallel hybrid space robots for assembly operations\",\"authors\":\"Quan An , Yao Zhang , Xuchao Huang , Hao Li , Xinhui Xia\",\"doi\":\"10.1016/j.actaastro.2025.03.016\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>This article presents the impedance control method for a serial-parallel hybrid space robot system (HSRS) including a robotic arm and a parallel platform in Stewart configuration, and achieves compliance and stability during assembly operations. In this article, the dynamic model of the HSRS is established firstly with considering the influence of external forces, which is the foundation of subsequent research. Afterwards, the impedance control method of the HSRS is implemented by analyzing its dynamic coupling effect. Based on that, the compliance assembly operation is achieved by the coordination between the robotic arm and the parallel platform. The correctness of the HSRS dynamic model is demonstrated through the theorem of momentum and closed-chain constraint equations. The effectiveness of the impedance control method is verified through a simulation of modules assembly. Moreover, the operational abilities of traditional serial space robot and the HSRS are compared by introducing external disturbances. Simulation results show the efficiency of the HSRS.</div></div>\",\"PeriodicalId\":44971,\"journal\":{\"name\":\"Acta Astronautica\",\"volume\":\"232 \",\"pages\":\"Pages 316-329\"},\"PeriodicalIF\":3.1000,\"publicationDate\":\"2025-03-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Acta Astronautica\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0094576525001729\",\"RegionNum\":2,\"RegionCategory\":\"物理与天体物理\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, AEROSPACE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Acta Astronautica","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094576525001729","RegionNum":2,"RegionCategory":"物理与天体物理","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}

引用次数: 0

摘要

提出了一种包含机械臂和并联平台的空间机器人系统（HSRS） Stewart构型的阻抗控制方法，使其在装配过程中具有顺应性和稳定性。在本文中，首先建立了考虑外力影响的高铁系统动力学模型，这是后续研究的基础。然后，通过分析其动态耦合效应，实现了HSRS的阻抗控制方法。在此基础上，通过机械臂与并联平台的协调，实现柔性装配操作。通过动量定理和闭链约束方程验证了HSRS动力学模型的正确性。通过模块装配仿真验证了阻抗控制方法的有效性。在此基础上，通过引入外部干扰，比较了传统串联空间机器人与HSRS的运行能力。仿真结果表明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Impedance control in serial-parallel hybrid space robots for assembly operations

This article presents the impedance control method for a serial-parallel hybrid space robot system (HSRS) including a robotic arm and a parallel platform in Stewart configuration, and achieves compliance and stability during assembly operations. In this article, the dynamic model of the HSRS is established firstly with considering the influence of external forces, which is the foundation of subsequent research. Afterwards, the impedance control method of the HSRS is implemented by analyzing its dynamic coupling effect. Based on that, the compliance assembly operation is achieved by the coordination between the robotic arm and the parallel platform. The correctness of the HSRS dynamic model is demonstrated through the theorem of momentum and closed-chain constraint equations. The effectiveness of the impedance control method is verified through a simulation of modules assembly. Moreover, the operational abilities of traditional serial space robot and the HSRS are compared by introducing external disturbances. Simulation results show the efficiency of the HSRS.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Acta Astronautica 工程技术-工程：宇航

CiteScore

7.20

自引率

22.90%

发文量

599

审稿时长

53 days

期刊介绍： Acta Astronautica is sponsored by the International Academy of Astronautics. Content is based on original contributions in all fields of basic, engineering, life and social space sciences and of space technology related to: The peaceful scientific exploration of space, Its exploitation for human welfare and progress, Conception, design, development and operation of space-borne and Earth-based systems, In addition to regular issues, the journal publishes selected proceedings of the annual International Astronautical Congress (IAC), transactions of the IAA and special issues on topics of current interest, such as microgravity, space station technology, geostationary orbits, and space economics. Other subject areas include satellite technology, space transportation and communications, space energy, power and propulsion, astrodynamics, extraterrestrial intelligence and Earth observations.