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Design and calibration of spoke piezoelectric six-dimensional force/torque sensor for space manipulator

Chinese Journal of Aeronautics 2024年第1期37卷 218-235页

作者： Yingjun LI Guicong WANG Shuai ZHANG Yuanqin ZHOU Hongyu LI Zhenguang QI School of Mechanical Engineering University of JinanJinan 250022China

The large manipulator outside the space cabin is a multi-degree of freedom actuator for space operations.In order to realize the automatic control and flexible operation of the space manipulator,a novel spoke structure piezoelectric six-dimensional force/torque sensor with redundancy ability,high stiffness and good decoupling performance is innovatively proposed.Based on the deformation coordination relationship,the redundancy measurement mechanism is revealed.The mathematical models of the sensor with and without branch fault are established respectively.The finite element model is established to verify the feasibility of structure and redundancy measuring principle of the sensor.Depending on the theoretical analysis and simulation analysis,the prototype of the sensor is developed.Static and dynamic calibration experiments are carried out.The actual output voltage signal of the six-dimensional force/torque sensor is collected to establish the equation between the standard input applied load and the actual output voltage signal.Based on ant colony optimized BP algorithm,performance indexes of the sensor with and without branch fault are analyzed respectively.The experimental results show that the spoke piezoelectric sixdimensional force/torque sensor with the eight-point support structure has good accuracy and reliability.Meanwhile,it has strong decoupling characteristic that can effectively shield the coupling between dimensions.The nonlinear errors and maximum interference errors of decoupled data with and without branch faults are less than 1% and 2%,respectively.The natural frequency of the sixdimensional force sensor can reach 2856.45 Hz and has good dynamic characteristics.The research content lays a theoretical and experimental foundation for the design,development and application of the new six-dimensional force/torque sensors with redundancy.Meanwhile,it will significantly improve the research level in this field,and provide a strong guarantee for the smooth implementation of force feedback control of th

关键词： Decoupling algorithm Piezoelectric Redundancy Six-dimensional force/torque sensor space manipulator

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Failure treatment strategy and fault-tolerant path planning of a space manipulator with free-swinging joint failure

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Chinese Journal of Aeronautics 2018年第12期31卷 2290-2305页

作者： Gang CHEN Wen GUO Qingxuan JIA Xuan WANG Yingzhuo FU School of Automation Beijing University of Posts and Telecommunications

Aiming at a space manipulator with free-swinging joint failure, a failure treatment strategy and fault-tolerant path planning method is proposed in this paper. This method can realize failure treatment of a space manipulator with free-swinging joint failure through determination of the optimal locked joint angle and dynamics model reconfiguration. Fault-tolerant path planning is realized by the establishment of the degraded workspace with integrated kinematics performance(DWWIKP) and an improved A-Star(A*) algorithm. This paper has the following contributions.The determination of the optimal locked joint angle can ensure that the manipulator is able to continue follow-up tasks while maximizing the workspace of the manipulator after locking the fault joint. Underactuated control of a high degree-of-freedom(DOF) manipulator can be effectively solved through dynamics model reconfiguration. The analysis process of the dynamics coupling relationship can be applied to cases where the active joint and the passive joint are parallel or perpendicular to each other. The establishment of the DWWIKP can demonstrate the kinematics performance of the manipulator in both joint space and operation space comprehensively. The improved A*algorithm based on the integrated kinematics performance index(IKPI) can search a fault-tolerant task trajectory that satisfies the requirements of reachability and the overall kinematics performance simultaneously. The method proposed in this paper is verified by a 7-DOF manipulator, and it is available to any DOF manipulator with free-swinging joint failure.

关键词： Failure treatment Fault-tolerant Free-swinging space manipulator Underactuated

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Adaptive fuzzy terminal sliding mode control for the free-floating space manipulator with free-swinging joint failure

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Chinese Journal of Aeronautics 2021年第9期34卷 178-198页

作者： Qingxuan JIA Bonan YUAN Gang CHEN Yingzhuo FU School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876China

space manipulator with free-swinging joint failure simultaneously contains kinematic and dynamic coupling relationships,so it belongs to a new underactuated system.To allow the manipulator to carry on tasks,an effective robust underactuated control method for the space manipulator with free-swinging joint failure is studied in this paper.Considering the effect of model uncertainty and joint torque disturbance,a robust underactuated control system based on the Terminal Sliding Mode Controller(TSMC)is designed,but two drawbacks are discussed:(A)Robustness depraves with eliminating chattering.(B)Control parameters are difficult to be determined under unknown uncertainty and disturbance.To improve the TSMC,the adaptive fuzzy controller is introduced to estimate the real effect of unknown uncertainty and disturbance according to deviations of sliding mode and its reaching law.The estimated result is directly compensated into active joints torque.In simulation,the space manipulator with free-swinging joint executes tasks based on the TSMC and the Adaptive Fuzzy Terminal Sliding Mode Controller(AFTSMC)respectively.Same tasks can be finished with smaller joints torque and stronger robustness based on the AFTSMC.Therefore,AFTSMC can serve as an effective robust control method for the space manipulator with free-swinging joint failure under unknown model uncertainty and torque disturbance.

关键词： space manipulator Free-swinging joint failure Sliding mode control Adaptive fuzzy control Robust controllers

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Pre-impact trajectory planning for minimizing base attitude disturbance in space manipulator systems for a capture task

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Chinese Journal of Aeronautics 2015年第4期28卷 1199-1208页

作者： Zhang Long Jia Qingxuan Chen Gang Sun Hanxu School of Automation Beijing University of Posts and Telecommunications

Aimed at capture task for a free-floating space manipulator, a scheme of pre-impact trajectory planning for minimizing base attitude disturbance caused by impact is proposed in this paper.Firstly, base attitude disturbance is established as a function of joint angles, collision direction and relative velocity between robotic hand and the target.Secondly, on the premise of keeping correct capture pose, a novel optimization factor in null space is designed to minimize base attitude disturbance and ensure that the joint angles do not exceed their limits simultaneously.After reaching the balance state, a desired configuration is achieved at the contact point.Thereafter, particle swarm optimization（PSO） algorithm is employed to solve the pre-impact trajectory planning from its initial configuration to the desired configuration to achieve the minimized base attitude disturbance caused by impact and the correct capture pose simultaneously.Finally, the proposed method is applied to a 7-dof free-floating space manipulator and the simulation results verify the effectiveness.

关键词： Capture task Minimum disturbance Null space space manipulator Trajectory planning

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Fuzzy PID Control of space manipulator for Both Ground Alignment and space Applications

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International Journal of Automation and computing 2014年第4期11卷 353-360页

作者： Fu-Cai Liu Li-Huan Liang Juan-Juan Gao Key Lab of Industrial Computer Control of Hebei Province Yanshan University

Considering gravity change from ground alignment to space applications, a fuzzy proportional-integral-differential(PID)control strategy is proposed to make the space manipulator track the desired trajectories in different gravity environments. The fuzzy PID controller is developed by combining the fuzzy approach with the PID control method, and the parameters of the PID controller can be adjusted on line based on the ability of the fuzzy controller. Simulations using the dynamic model of the space manipulator have shown the effectiveness of the algorithm in the trajectory tracking problem. Compared with the results of conventional PID control,the control performance of the fuzzy PID is more effective for manipulator trajectory control.

关键词： space manipulator trajectory tracking ground alignment space applications fuzzy proportional-integral-differential (PID) gravity environment

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BASED ON WAVELET ANALYSIS TO OPTIMAL CONTROL OF MOTION PLANNING OF space manipulator

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Applied Mathematics and Mechanics(English Edition) 2000年第10期21卷 1161-1168页

作者：戈新生张奇志刘延柱 Division of Basic Courses Beijing Institute of Machinery Beijing P R China Department of Engineering Mechanics Shanghai Jiaotong University Shanghai P R China

The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control problem, the classical Fourier basic functions were replaced by the wavelet expansion approximation. A numerical algorithm of optimal control was proposed based an wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manipulator.

关键词： space manipulator motion planning optimal control wavelet analysis

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Contact Tracking Control Strategy for space manipulator with Snare-Type End-Effector

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Transactions of Nanjing University of Aeronautics and Astronautics 2019年第6期36卷 995-1003页

作者： ZHANG Long CHEN Gang Key Laboratory of space Utilization Technology and Engineering Center for Space UtilizationChinese Academy of SciencesBeijing 100094P.R.China School of Automation Beijing University of Posts and TelecommunicationsBeijing 100876P.R.China

The capture operation performed by a snare-type end-effector mainly relies on three flexible cables.This paper solves the dynamics modeling problems of flexible cable used in the snare-type end-effector and provides a contact tracking control strategy for the impact phase of snare capture.To describe the motion of flexible cable,a dynamics model is established by considering both tensile and bending resistance properties.On this basis,a virtual spring concept is introduced to represent the contact between flexible cables and the target grapple shaft,and a contact dynamics model is established approximately by polynomial function with the variables of penetration and start-end distance of flexible cable.Thereafter,a contact tracking control strategy is proposed to improve the reliability of space snare capture.The target grapple shaft and flexible cable can keep in contact at the initial contact point during the whole capture process and thus reduce the possibility of pushing the target away.Experiments are carried out to verify the effectiveness of the proposed method.

关键词： space manipulator snare capture dynamics model control strategy

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A switching-based backstepping sliding mode control for space manipulator in presence of gravity variation

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High Technology Letters 2021年第4期27卷 454-462页

作者：刘福才 Zhao Wenna Meng Lingcong Liu Shuo Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan UniversityQinhuangdao 066004P.R.China Engineering Department University of SheffieldSheffieldUK

A novel switching-based backstepping sliding mode control(SBSMC) scheme is devised for the space manipulator exposed to different gravity.With a view to distinct differences in dynamics properties when the operating conclition of space manipulator changer,the space manipulator can be thought of as a system composed of two subsystems,the ground subsystem and the space subsystem.Two different types of backstepping sliding mode(BSM) controllers are designed,one is suited for the ground subsystem and the other is for the space one.The switching between two subsystems can be implemented automatically when the switching mechanism is triggered,and the controllers for their subsystems experience synchronous switching.In this way,the space manipulator always has good behaviors in trajectory tracking.Moreover,multi-Lyapunov functions are introduced to prove the stability of this switching approach.According to simulation results,the method constructed in this research has better performance in control precision and adaptability compared with proportional-derivative(PD) control.

关键词： space manipulator microgravity switching system multi-Lyapunov functions backstepping sliding mode control(BSMC)

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Trajectory Optimization for 7-Dofs space manipulator

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Journal of Beijing Institute of Technology 2017年第2期26卷 143-149页

作者： Wencheng Ni Zhihong Jiang Hui Li Bo Wei Xiaoyun Li Bainan Zhang Qiang Huang School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China China Academy of space Technology Beijing 100094 China

The space manipulator is always designed to have 7 degrees of freedom（Dofs）with the consideration of energy limitation,as well as the flexible moving possibility.Therefore,how to plan the trajectory is important to improve the performance of the manipulator.In this paper,the speed of the end effector is configured as a projecting parameter,when a constant acceleration is applied to adjust the velocity.To implement this trajectory planning strategy,an optimization algorithm through the pseudo inverse of Jacobin matrix is designed,which adjusts the weight functions of joints.According to the functional theory,this algorithm is analyzed and the optimal solution is found in numerous sets of planning.A MATLAB simulation platform is established and the results verity the effectiveness of the algorithm.

关键词： redundant degree of freedom space manipulator trajectory optimization

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Autonomous planning and control strategy for space manipulators with dynamics uncertainty based on learning from demonstrations

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Science China(Technological Sciences) 2021年第12期64卷 2662-2675页

作者： LI ChongYang LI ZhiQi JIANG ZaiNan CUI ShiPeng LIU Hong CAI HeGao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Autonomous planning is a significant development direction of the space manipulator,and learning from demonstrations(LfD)is a potential strategy for complex tasks in the field.However,separating control from planning may cause large torque fluctuations and energy consumptions,even instability or danger in control of space manipulators,especially for the planning based on the human demonstrations.Therefore,we present an autonomous planning and control strategy for space manipulators based on LfD and focus on the dynamics uncertainty problem,a common problem of actual manipulators.The process can be divided into three stages:firstly,we reproduced the stochastic directed trajectory based on the Gaussian process-based LfD;secondly,we built the model of the stochastic dynamics of the actual manipulator with Gaussian process;thirdly,we designed an optimal controller based on the dynamics model to obtain the improved commanded torques and trajectory,and used the separation theorem to deal with stochastic characteristics during control.We evaluated the strategy with locating pre-screwed bolts experiment by Tiangong-2 manipulator system on the ground.The result showed that,compared with other strategies,the strategy proposed in this paper could significantly reduce torque fluctuations and energy consumptions,and its precision can meet the task requirements.

关键词： space manipulator optimal control dynamics uncertainty learning from demonstrations

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