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学者姓名：陈力
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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 等. "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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Compared with the ground environment，the robot system exposed to cosmic rays in space environment is more susceptible to external interference，and the system parameter changes such as mass and inertia caused by difficult maintenance and fuel consumption make it more prone to system uncertainty. Aiming at the problems of system uncertainty and external interference in a floating space robot system with uncontrolled carrier position，a trajectory tracking control method based on variable universe fuzzy control is proposed. On the basis of calculating torque controller to solve the nominal system control torque，the variable universe adaptive fuzzy controller is used to compensate the errors caused by the system uncertainty and external interference. The real-time change of the scope of the variable domain makes the fuzzy controller applicable to different error ranges at different time，thus effectively improving the response speed of the system and reducing the steady-state tracking error of the system. Finally，the stability of the control scheme is proved by Lyapunov method，and the effectiveness of the control method is proved by numerical simulation. © 2024 Nanjing University of Aeronautics an Astronautics. All rights reserved.
Keyword ：
adaptive control adaptive control external interference external interference numerical simulation numerical simulation space robot space robot variable universe fuzzy control variable universe fuzzy control
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| GB/T 7714 | Han, Z. , Chen, L. , Han, D. . Adaptive Control of Space Robot Based on Variable Universe Fuzzy Compensation; [基 于 变 论 域 模 糊 补 偿 的 空 间 机 器 人 自 适 应 控 制] [J]. | Journal of Nanjing University of Aeronautics and Astronautics , 2024 , 56 (3) : 424-431 . |
| MLA | Han, Z. 等. "Adaptive Control of Space Robot Based on Variable Universe Fuzzy Compensation; [基 于 变 论 域 模 糊 补 偿 的 空 间 机 器 人 自 适 应 控 制]" . | Journal of Nanjing University of Aeronautics and Astronautics 56 . 3 (2024) : 424-431 . |
| APA | Han, Z. , Chen, L. , Han, D. . Adaptive Control of Space Robot Based on Variable Universe Fuzzy Compensation; [基 于 变 论 域 模 糊 补 偿 的 空 间 机 器 人 自 适 应 控 制] . | Journal of Nanjing University of Aeronautics and Astronautics , 2024 , 56 (3) , 424-431 . |
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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.
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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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In order to solve the joint tracking control and vibration problem of flexible-joint space robot system in the pre-grasping stage when the position and pose are not controlled, the dynamic equations of a free-floating three-bar flexible-joint space robot system are established using the Lagrangian equation in conjunction with the principle of momentum conservation. In order to improve the equivalent stiffness of flexible-joint, a joint flexible compensation method was introduced. The flexible-joint space robot system was divided into slow and fast systems by singular perturbation theory. On this basis, a sliding mode control method with time delay estimation as the main framework was designed for the slow variable systems, while combining it with a low-pass filter to eliminate the system chattering problem caused by sliding mode control. A linear velocity difference feedback control system was designed for the fast-changing system to suppress the flexible vibration problems introduced by the flexible joints. Simulation verification demonstrates that the space robotic arm is capable of quickly and steadily tracking the desired trajectory within a limited time, confirming that the control scheme possesses good robustness and reliability. © 2024 National University of Defense Technology. All rights reserved.
Keyword ：
flexible-joint space robot flexible-joint space robot joint flexibility compensation joint flexibility compensation low-pass filter low-pass filter sliding mode variable structure control sliding mode variable structure control time-delay estimation time-delay estimation
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| GB/T 7714 | Xu, H. , Yu, X. , Zhang, Y. et al. Time-delay estimation tracking control of flexible-joint space robot based on low-pass filter; [基于低通滤波器的柔性关节空间机器人时延估计跟踪控制] [J]. | Journal of National University of Defense Technology , 2024 , 46 (4) : 142-149 . |
| MLA | Xu, H. et al. "Time-delay estimation tracking control of flexible-joint space robot based on low-pass filter; [基于低通滤波器的柔性关节空间机器人时延估计跟踪控制]" . | Journal of National University of Defense Technology 46 . 4 (2024) : 142-149 . |
| APA | Xu, H. , Yu, X. , Zhang, Y. , Chen, L. . Time-delay estimation tracking control of flexible-joint space robot based on low-pass filter; [基于低通滤波器的柔性关节空间机器人时延估计跟踪控制] . | Journal of National University of Defense Technology , 2024 , 46 (4) , 142-149 . |
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Abstract ：
针对目前军用机场传统液压挂弹系统作业时间长、人力成本高、挂载精度低等问题，设计一种智能挂弹机器人以提高挂弹作业效率.首先，完成智能挂弹机器人的机械结构总体设计；其次，对智能挂弹机器人最关键的举升机构进行静力学和运动学分析，建立起举升机构力矩平衡方程和运动学方程；最后，通过机械系统动力学自动分析(automatic dynamic analysis of mechanical systems, ADAMS)仿真计算举升机构在作业过程中的推力变化和末端托盘速度变化情况.实验结果表明，所设计的举升机构性能达到了预期要求，同时仿真结果也可为智能挂弹机器人的举升电力系统设计和选型提供可靠的数据支持.
Keyword ：
ADAMS仿真 ADAMS仿真 举升机构 举升机构 智能挂弹机器人 智能挂弹机器人 机械结构设计 机械结构设计
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| GB/T 7714 | 杜嘉宇 , 权宇超 , 韩大鹏 et al. 智能挂弹机器人结构设计与举升机构仿真分析 [J]. | 福州大学学报(自然科学版) , 2024 , 52 (02) : 191-197 . |
| MLA | 杜嘉宇 et al. "智能挂弹机器人结构设计与举升机构仿真分析" . | 福州大学学报(自然科学版) 52 . 02 (2024) : 191-197 . |
| APA | 杜嘉宇 , 权宇超 , 韩大鹏 , 陈力 . 智能挂弹机器人结构设计与举升机构仿真分析 . | 福州大学学报(自然科学版) , 2024 , 52 (02) , 191-197 . |
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针对势能守恒系统中的关节力矩和阻尼展开分析，依据第二类拉格朗日方程建立动力学模型，并结合仿真进行验证分析.结果表明，关节力矩、弹簧组件中阻尼是影响被动式微低重力模拟系统平衡的关键控制参量.同时，根据系统受激励后的特性提出一种阻尼系数取值的单曲函数定量约束的方法，并进行案例研究，为相关系统的平衡性研究提供定量依据和分析方法.
Keyword ：
关节力矩 关节力矩 动力学建模 动力学建模 被动补偿 被动补偿 重力补偿 重力补偿 阻尼 阻尼
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| GB/T 7714 | 兰超 , 韩大鹏 , 王兆魁 et al. 基于势能守恒的被动式微低重力模拟系统平衡因素 [J]. | 福州大学学报(自然科学版) , 2024 , 52 (02) : 184-190 . |
| MLA | 兰超 et al. "基于势能守恒的被动式微低重力模拟系统平衡因素" . | 福州大学学报(自然科学版) 52 . 02 (2024) : 184-190 . |
| APA | 兰超 , 韩大鹏 , 王兆魁 , 陈力 . 基于势能守恒的被动式微低重力模拟系统平衡因素 . | 福州大学学报(自然科学版) , 2024 , 52 (02) , 184-190 . |
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针对空间机器人双臂捕获卫星过程中的关节易受冲击力矩而破坏的问题，提出一种基于强化学习的柔性控制方法．首先，针对捕获前双臂空间机器人及卫星系统，分别利用拉格朗日方法及牛顿-欧拉法推导得其动力学模型；然后结合冲量定理、位置约束关系及牛顿第三定律，建立捕获后空间机器人与卫星形成混合体系统的动力学模型．针对失稳的混合体系统，提出一种缓冲柔顺强化学习控制方案，该方案通过系统与环境的动态交互来实时优化控制策略以实现镇定过程的最优控制．仿真结果表明：所提控制方案最大可减少54.2%的冲击力矩，并在镇定阶段确保关节冲击力矩限制在安全范围内，从而保护关节免受冲击力矩的破坏．
Keyword ：
双臂捕获卫星操作 双臂捕获卫星操作 强化学习 强化学习 柔性机构 柔性机构 空间机器人 空间机器人 缓冲柔顺控制 缓冲柔顺控制 闭链系统 闭链系统
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| GB/T 7714 | 艾海平 , 鄂凯欣 , 朱安 et al. 基于强化学习的空间机器人柔性捕获控制研究 [J]. | 华中科技大学学报(自然科学版) , 2024 , 52 (05) : 150-157 . |
| MLA | 艾海平 et al. "基于强化学习的空间机器人柔性捕获控制研究" . | 华中科技大学学报(自然科学版) 52 . 05 (2024) : 150-157 . |
| APA | 艾海平 , 鄂凯欣 , 朱安 , 陈力 . 基于强化学习的空间机器人柔性捕获控制研究 . | 华中科技大学学报(自然科学版) , 2024 , 52 (05) , 150-157 . |
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Abstract ：
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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对于自由漂浮的刚性空间机器人,设计一种二阶滑模固定时间轨迹跟踪控制器.利用拉格朗日法建立自由漂浮空间机器人系统的动力学模型,结合加幂积分法与虚拟变量策略为系统设计一种二阶滑模固定时间轨迹跟踪控制器.采用Lyapunov函数法证明所提出控制器可确保空间机器人跟踪误差的全局固定时间收敛,且收敛时间独立于系统初始状态.所提方法可对系统跟踪误差的最小收敛时间上界进行估计,解决传统固定时间控制方法所存在的收敛时间过度估计的问题,并可有效削弱控制力矩的抖振现象.仿真结果与理论分析一致,校验了所提方法的可行性与优越性.
Keyword ：
加幂积分法 加幂积分法 固定时间控制 固定时间控制 空间机器人 空间机器人 虚拟变量 虚拟变量 轨迹跟踪 轨迹跟踪
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| GB/T 7714 | 雷荣华 , 付晓东 , 陈力 . 基于加幂积分法的空间机器人二阶滑模全局固定时间控制 [J]. | 控制与决策 , 2024 , 39 (10) : 3270-3278 . |
| MLA | 雷荣华 et al. "基于加幂积分法的空间机器人二阶滑模全局固定时间控制" . | 控制与决策 39 . 10 (2024) : 3270-3278 . |
| APA | 雷荣华 , 付晓东 , 陈力 . 基于加幂积分法的空间机器人二阶滑模全局固定时间控制 . | 控制与决策 , 2024 , 39 (10) , 3270-3278 . |
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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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