基于阻抗控制的空间机械臂辅助对接分析-人机与环境工程专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - Abstract With the development of Chinas manned space program, the construction of Chinas own space laboratory and space station systems are Chinese space exploration’s a crucial step. Especially after the Temple One’s rendezvous and docking is successfully completed, the construction of the space station seems even more imminent. When launching spacecraft and target spacecraft rendezvous and docking successfully, we need transfer the launching spacecraft to other interface or assemble to a predetermined position, while leaving to the subsequent docking spacecraft the docking position. Here the spacecraft moved to a predetermined position is called Translocation, after translocation the launching spacecraft docking with the target spacecraft again successfully called re-docking. During re-docking process, due to the spacecraft to transfer weight a significant dozens or even hundreds of tons, it is a large mass load. Furthermore strong systemic, and strong coupling between systems, but also considering the process of the Translocation and re-docking, spacecraft, target spacecraft and auxiliary systems, such as the manipulator system’s influences and constraints, technical difficulties are very huge. In this paper, under the background of construction and assembling of the space station with the use of manipulator, especially the process of translocation and re-docking. considering the minimal impact on the space station system , impedance control method was proposed. First, progress at home and abroad is introduced in translocation and re-docking, and summarizes the key issues in re-docking. Then based on Newton- Euler recursive algorithm established seven DOF space manipulator dynamics model. In the follow according to the principles and characteristics of impedance control, impedance controller is designed and simplified. Using Matlabs SIMULINK module controller model by two-link planar dynamics model is build, verification a