Analysis of reaction torque-based control of a redundant free-floating space robot

作     者：Minghe JIN Cheng ZHOU Yechao LIU Hong LIU 

作者机构：State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2017年第30卷第5期

页      面：1765-1776页

核心收录：

学科分类：080706[工学-化工过程机械] 080202[工学-机械电子工程] 08[工学] 0807[工学-动力工程及工程热物理] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported in part by the National Program on Key Basic Research Project 973 Program under Grant 2013CB733103 the Program for New Century Excellent Talents in University under Grand NCET-10-0058 

主　　题：Attitude control Base disturbance Dynamics modeling Reaction torque Real time simulator Space robot 

摘      要：Owing to the dynamics coupling between a free-floating base and a manipulator, the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator＇s motion. The reaction torque acted on the satellite base＇s centroid is an important index to measure the satellite base＇s disturbance. In this paper, a comprehensive analysis of the reaction torque is made, and a novel way to derive the analytical form of the reaction torque is proposed. In addition,the reaction torque null-space is derived, in which the manipulator＇s joint motion is dynamically decoupled from the motion of the satellite base, and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space. Furthermore, the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task. Besides, supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control, the reaction torque can be used to realize satellite base attitude control, that is, base attitude adjustment or maintenance. Moreover, because reaction torque-based control is a second-order control scheme, joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control. A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas. Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible.