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学者姓名：陈力
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Abstract ：
研究了双臂空间机器人在轨辅助对接任务操作的力/位控制问题.首先,利用Lagrange方法并结合系统动量守恒定理、闭链系统运动及几何约束关系等建立了双臂空间机器人捕获目标后形成闭链混合体系统动力学方程;基于阻抗控制理论建立了二阶线性阻抗模型和二阶近似环境模型.然后,考虑在轨任务的快速响应的控制需求以及对接操作所需的高精度力/位控制,针对双臂闭链系统的确定部分设计了标称PD控制器,并针对其建模不确定部分引入滑模变结构控制器来进行精确补偿,以提高力/位的控制精度.结合模糊控制原理,采用将滑模面作为模糊输入,补偿控制增益作为模糊输出的控制方案来实现对固有抖振的抑制.该控制策略不依赖滑模面微分信号,结构可靠,计算效率高,鲁棒性强.最后,通过Lyapunov稳定性判定验证了系统的稳定性.基于Matlab仿真结果分析,验证了所提控制策略的力/位姿控制精度满足在轨对接任务的需求.
Keyword ：
双臂空间机器人 双臂空间机器人 在轨辅助对接 在轨辅助对接 模糊变结构 模糊变结构 阻抗控制 阻抗控制
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| GB/T 7714 | 刘东博 , 陈力 . 基于模糊逻辑的双臂空间机器人在轨辅助对接操作变结构力/位控制 [J]. | 机械工程学报 , 2025 , 61 (1) : 60-70 . |
| MLA | 刘东博 等. "基于模糊逻辑的双臂空间机器人在轨辅助对接操作变结构力/位控制" . | 机械工程学报 61 . 1 (2025) : 60-70 . |
| APA | 刘东博 , 陈力 . 基于模糊逻辑的双臂空间机器人在轨辅助对接操作变结构力/位控制 . | 机械工程学报 , 2025 , 61 (1) , 60-70 . |
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Abstract ：
The force/pose control problem of a dual-arm space robot in orbit assisted docking mission is studied. Firstly, the Lagrange method is used to establish the dynamics equation of the closed chain hybrid system after the capture of the target of the dual-arm space robot by combining the momentum conservation theorem, the motion of the closed chain system and the geometric constraints. Based on impedance control theory, the second order linear impedance model and the second order approximate environment model are established. Then, considering the control requirements of fast response for on-orbit missions and high-precision force/pose control for docking operations, a nominal PD controller is designed for the deterministic part of the dual-arm closed-chain system, and a sliding mode variable structure controller is introduced to accurately compensate the uncertain part of the modeling, so as to improve the force/pose control accuracy. Based on the fuzzy control principle, a control scheme with sliding mode surface as fuzzy input and compensation control gain as fuzzy output is adopted to realize the suppression of the inherent buffeting. The control strategy does not depend on the sliding mode surface differential signal, and has reliable structure, high computational efficiency and strong robustness. Finally, the stability of the system is verified by Lyapunov stability determination. Based on Matlab simulation results, it is verified that the control accuracy of the proposed control strategy meet the requirements of on-orbit docking tasks. © 2025 Chinese Mechanical Engineering Society. All rights reserved.
Keyword ：
Docking Docking Fuzzy control Fuzzy control Invariance Invariance Robotic arms Robotic arms Robustness (control systems) Robustness (control systems) Structural dynamics Structural dynamics Variable structure control Variable structure control
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| GB/T 7714 | Liu, Dongbo , Chen, Li . Variable Structure Force/Pose Control for In-orbit Auxiliary Docking Operation of Dual-arm Space Robot Based on Fuzzy Logic [J]. | Journal of Mechanical Engineering , 2025 , 61 (1) : 60-70 . |
| MLA | Liu, Dongbo 等. "Variable Structure Force/Pose Control for In-orbit Auxiliary Docking Operation of Dual-arm Space Robot Based on Fuzzy Logic" . | Journal of Mechanical Engineering 61 . 1 (2025) : 60-70 . |
| APA | Liu, Dongbo , Chen, Li . Variable Structure Force/Pose Control for In-orbit Auxiliary Docking Operation of Dual-arm Space Robot Based on Fuzzy Logic . | Journal of Mechanical Engineering , 2025 , 61 (1) , 60-70 . |
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The vibration suppression impedance control problem of space truss of space robot assembly in orbit is studied. Firstly, a system dynamics model of a single-arm space robot is established using Lagrange's method in terms of carrier attitude control. Through dynamic analysis, the Jacobian relation between the manipulator end-effector and the truss plug within the base coordinate system is derived. Based on impedance control principles, a second-order linear impedance model is established by considering the dynamic relationship between plug pose and output force. Next, a nominal PD (Proportional Derivative) controller is designed and a sliding-mode variable-structure controller is introduced to accurately compensate for the modeling uncertainties, thereby improving the force/position control accuracy. Taking into account of the inherent buffeting associated with the sliding-mode controllers as well as the fuzzy control principles, a control scheme utilizing the sliding mode surface as input and the compensation control gain as output is adopted to achieve the vibration suppression effects. This control strategy does not rely on differential signals from sliding-mode surfaces. Also, it requires less computation cost while maintaining strong robustness without complex fuzzy expert rule database. In addition, it has been proven through Lyapunov principle that this system exhibits uniform asymptotic stability. Finally, the effectiveness and suppression performance of the proposed control strategy are verified based on the analysis results of Matlab simulations. © 2024, Editorial Office of Chinese Quarterly of Mechanic. All rights reserved.
Keyword ：
fuzzy variable structure fuzzy variable structure on-orbit insertion on-orbit insertion space robot space robot space truss space truss
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| GB/T 7714 | Liu, D. , Chen, L. . Dynamic Analysis and Vibration Suppression Impedance Control of Space Robot for On-Orbit Assembly Service [J]. | Chinese Quarterly of Mechanics , 2024 , 45 (3) : 688-696 . |
| MLA | Liu, D. 等. "Dynamic Analysis and Vibration Suppression Impedance Control of Space Robot for On-Orbit Assembly Service" . | Chinese Quarterly of Mechanics 45 . 3 (2024) : 688-696 . |
| APA | Liu, D. , Chen, L. . Dynamic Analysis and Vibration Suppression Impedance Control of Space Robot for On-Orbit Assembly Service . | Chinese Quarterly of Mechanics , 2024 , 45 (3) , 688-696 . |
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In addressing the challenge of obstacle-avoidance motion planning for space redundant manipulators operating in environments with obstacles, an improved method based on a rapidly exploring random tree (RRT) algorithm is proposed. The method first adopts a target probabilistic sampling strategy to enhance the target orientation. Secondly, an artificial potential field is constructed to steer the growth of the node tree in joint space. Subsequently, a collision detection model between the manipulator and obstacles is established based on the bounding capsule and bounding sphere in Cartesian space. Finally, the paths are pruned and smoothed with a cubic Bezier curve. The simulation results validate the method's capacity to effectively plan a collision-free path for the space redundant manipulator and the joint motion trajectory is smooth. © Published under licence by IOP Publishing Ltd.
Keyword ：
Industrial manipulators Industrial manipulators Motion planning Motion planning Redundant manipulators Redundant manipulators Robot programming Robot programming Trees (mathematics) Trees (mathematics)
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| GB/T 7714 | Ye, Bin , Liu, Chuankai , Han, Fang et al. Obstacle avoidance motion planning for space redundant manipulator based on improved RRT algorithm [C] . 2024 . |
| MLA | Ye, Bin et al. "Obstacle avoidance motion planning for space redundant manipulator based on improved RRT algorithm" . (2024) . |
| APA | Ye, Bin , Liu, Chuankai , Han, Fang , Hu, Xiaodong , Chen, Li . Obstacle avoidance motion planning for space redundant manipulator based on improved RRT algorithm . (2024) . |
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A motion error parameter identification method is proposed to address the issue of insufficient absolute positioning accuracy of a seven-degree-of-freedom space robot based on the geometric parameter errors of the robotic arm and the position errors of the base coordinate system. Firstly, the kinematic model of the space robot is established based on a modified complete and parametrically continuous model, and the mapping relationship between the geometric parameter error of the robotic arm link and the end-effector pose error is obtained using the pose differential transformation method. Then, taking into account the base coordinate system's positional error, a novel model for the space robot is developed, based on the errors associated with the base coordinate system. Finally, the identification of kinematic parameters is accomplished using the Levenberg-Marquardt optimization algorithm. Simulation results validate the effectiveness of the proposed method. © 2024 IEEE.
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| GB/T 7714 | Yao, Zhen , Liu, Chuankai , Chen, Li et al. Calibration of Space Robot Parameters Based on Base Coordinate System Errors [C] . 2024 : 242-248 . |
| MLA | Yao, Zhen et al. "Calibration of Space Robot Parameters Based on Base Coordinate System Errors" . (2024) : 242-248 . |
| APA | Yao, Zhen , Liu, Chuankai , Chen, Li , Chen, Gang , Han, Fang , Hu, Xiaodong . Calibration of Space Robot Parameters Based on Base Coordinate System Errors . (2024) : 242-248 . |
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Abstract ：
In addressing the challenge of obstacle-avoidance motion planning for space redundant manipulators operating in environments with obstacles, an improved method based on a rapidly exploring random tree (RRT) algorithm is proposed. The method first adopts a target probabilistic sampling strategy to enhance the target orientation. Secondly, an artificial potential field is constructed to steer the growth of the node tree in joint space. Subsequently, a collision detection model between the manipulator and obstacles is established based on the bounding capsule and bounding sphere in Cartesian space. Finally, the paths are pruned and smoothed with a cubic Bezier curve. The simulation results validate the method’s capacity to effectively plan a collision-free path for the space redundant manipulator and the joint motion trajectory is smooth.
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| GB/T 7714 | Bin Ye , Chuankai Liu , Fang Han et al. Obstacle avoidance motion planning for space redundant manipulator based on improved RRT algorithm [J]. | Journal of Physics:Conference Series , 2024 , 2764 (1) . |
| MLA | Bin Ye et al. "Obstacle avoidance motion planning for space redundant manipulator based on improved RRT algorithm" . | Journal of Physics:Conference Series 2764 . 1 (2024) . |
| APA | Bin Ye , Chuankai Liu , Fang Han , Xiaodong Hu , Li Chen . Obstacle avoidance motion planning for space redundant manipulator based on improved RRT algorithm . | Journal of Physics:Conference Series , 2024 , 2764 (1) . |
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Abstract ：
The impedance control of a dual-arm space robot in orbit auxiliary docking operation is studied. First, for the closed-chain hybrid system formed by the dual-arm space robot after capture operation, the dynamic equation of position uncontrolled and attitude controlled is established. The second-order linear impedance model and second-order approximate environment model are established for the problem of simultaneous output force/pose control of the end of the manipulator. Then, aiming at the transient performance control requirements of the dual-arm space robot auxiliary docking operation in orbit, a sliding mode controller with equivalent replacement of tracking errors is designed by introducing Prescribed Performance Control (PPC) theory. Next, Radial Basis Function Neural Networks (RBFNN) are used to accurately compensate for the modeling uncertainties of the system. Finally, the stability of the system is verified by Lyapunov stability determination. The simulation results show that the attitude control accuracy is better than 0.5 degrees, the position control accuracy is better than 10-3 m, and the output force control accuracy is better than 0.5 N when it reaches 30 N. It also indicated that the proposed control algorithm can limit the transient performance of the controlled system within the preset range and achieve high-precision force/pose control, which ensures a more stable on-orbit auxiliary docking operation of the dual-arm space robot.
Keyword ：
dual-arm space robot dual-arm space robot impedance control impedance control on-orbit auxiliary dock on-orbit auxiliary dock PPC PPC RBFNN RBFNN
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| GB/T 7714 | Liu, Dongbo , Chen, Li . Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control [J]. | AEROSPACE , 2024 , 11 (11) . |
| MLA | Liu, Dongbo et al. "Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control" . | AEROSPACE 11 . 11 (2024) . |
| APA | Liu, Dongbo , Chen, Li . Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control . | AEROSPACE , 2024 , 11 (11) . |
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Abstract ：
近年来,随着太空探索步伐的不断加快,以大型空间站和太空望远镜为代表的大型空间设施在轨集群建造任务获得了相关学者日益广泛的关注与研究。此类任务的设计与实施,促进了空间机器人在轨集群操控技术的蓬勃发展。然而,受任务需求、操作时间、机载通信能力和计算能力等诸多因素限制,空间机器人集群高性能协同编队控制方法设计极具挑战。针对有向通信拓扑下存在外部扰动的空间机器人集群,本文提出了一种基于事件触发机制的分布式固定时间输出反馈鲁棒协同控制方法。首先,对于只有部分跟随者空间机器人可以获得领航者空间机器人角位移与角速度等状态信息的问题,设计了一个基于积分滑模的固定时间状态观测器来重构领航者空间机器人的状态信息。其次,对于空间机器人难以测量自身角速度信息的情况,设计了一个固定时间滑模角速度识别器,实现对空间机器人角速度信息的固定时间估计。然后,结合固定时间状态观测器和固定时间滑模角速度识别器,设计一种基于事件触发机制的分布式固定时间输出反馈鲁棒协同控制器,显著减小了控制器到执行器间的通信频次。结合代数图论和Lyapunov稳定性理论证明了闭环系统的全局固定时间收敛性与鲁棒性,通过数值仿真验证所提出的鲁棒协同控制策略的有效性和优越性。所提控制方法可丰富和发展空间机器人集群协同控制基础理论,且对于开发具有自主知识产权的空间机器人集群高性能服役关键技术具有重要的现实意义。
Keyword ：
事件触发 事件触发 分布式协同控制 分布式协同控制 固定时间控制 固定时间控制 空间机器人 空间机器人
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| GB/T 7714 | 雷荣华 , 陈力 , 付晓东 . 基于事件触发机制的空间机器人集群分布式固定时间鲁棒协同控制 [C] //第七届多体系统动力学青年学者学术研讨会 . 2024 . |
| MLA | 雷荣华 et al. "基于事件触发机制的空间机器人集群分布式固定时间鲁棒协同控制" 第七届多体系统动力学青年学者学术研讨会 . (2024) . |
| APA | 雷荣华 , 陈力 , 付晓东 . 基于事件触发机制的空间机器人集群分布式固定时间鲁棒协同控制 第七届多体系统动力学青年学者学术研讨会 . (2024) . |
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随着空间装置的在轨服务需求越来越迫切,空间机械臂已成为世界各航天大国的研究热点。空间机械臂作为航天领域的关键技术之一,在航天器的在轨组装、在轨维修、在轨燃料加注等在轨服务中起到关键作用。国际空间站组装建造、维修和应用的经验表明,利用空间机械臂可以在恶劣太空环境下辅助或代替航天员完成在轨操作任务,提高空间操作和应用的安全性和效益,大幅度降低了探索太空的成本与风险。因此,空间机械臂的系统动力学与控制问题受到密切关注。针对漂浮基空间机械臂系统的轨迹跟踪问题,提出了一种固定时间控制方法。在固定时间收敛的框架下,分别提出了基于模型的控制方法和神经网络学习的方法。神经网络用于处理系统内的不确定分量,而径向基函数神经网络用于逼近动力学模型中的不确定部分,它具有优异的非线性逼近能力和先进的全局逼近能力。根据李亚普诺夫稳定性理论,证明了闭环系统的稳定性,轨迹跟踪误差收敛于零附近的一个小区域。仿真结果表明,所提控制方法具有优异的轨迹跟踪性能,能在固定时间内收敛并补偿系统的不确定项,验证了该控制算法的有效性。
Keyword ：
固定时间 固定时间 径向基函数神经网络 径向基函数神经网络 空间机械臂 空间机械臂 轨迹跟踪 轨迹跟踪
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| GB/T 7714 | 江磊 , 艾海平 , 朱安 et al. 基于神经网络的漂浮基空间机械臂固定时间控制研究 [C] //第七届多体系统动力学青年学者学术研讨会 . 2024 . |
| MLA | 江磊 et al. "基于神经网络的漂浮基空间机械臂固定时间控制研究" 第七届多体系统动力学青年学者学术研讨会 . (2024) . |
| APA | 江磊 , 艾海平 , 朱安 , 陈力 . 基于神经网络的漂浮基空间机械臂固定时间控制研究 第七届多体系统动力学青年学者学术研讨会 . (2024) . |
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空间桁架作为空间站一类重要基础设施,在空间站建设中起着不可替代的作用.考虑到组装好的空间桁架所占空间以及火箭的运载能力,一般采用将桁架部件发射入太空并在轨道完成组装.为实现空间桁架的组装、维护等太空任务,对空间机器人在轨插、拔孔操作的力/位姿阻抗控制进行了研究.建立了载体姿态受控形式的空间机器人系统动力学模型;通过桁架部件插头的运动学约束,建立了插头在基连坐标系下的运动学关系.基于阻抗控制原理,根据插头位姿与其输出力之间的动态关系建立了二阶线性阻抗模型,以实现在轨插、拔孔操作过程中输出力的精确控制.提出了一种自适应模糊组合非线性反馈(composite nonlinear feedback,CNF)控制策略,通过模糊控制器拟合系统不确定参数,作为CNF控制器的补偿输入,以降低不确定参数的影响,提高位姿的控制精度.通过Lyapunov原理证明了系统的稳定性;利用仿真分析,验证了控制策略的有效性.
Keyword ：
在轨插拔孔操作 在轨插拔孔操作 空间机器人 空间机器人 空间桁架 空间桁架 组合非线性反馈控制 组合非线性反馈控制 阻抗控制 阻抗控制
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| GB/T 7714 | 刘东博 , 陈力 . 空间机器人在轨桁架组装操作基于自适应模糊CNF的阻抗控制 [J]. | 力学与实践 , 2024 , 46 (4) : 711-721 . |
| MLA | 刘东博 et al. "空间机器人在轨桁架组装操作基于自适应模糊CNF的阻抗控制" . | 力学与实践 46 . 4 (2024) : 711-721 . |
| APA | 刘东博 , 陈力 . 空间机器人在轨桁架组装操作基于自适应模糊CNF的阻抗控制 . | 力学与实践 , 2024 , 46 (4) , 711-721 . |
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