Query：
学者姓名：陈力
Refining：
Year
Type
Indexed by
Source
Complex
Former Name
Co-
Language
Clean All
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
为实现在轨任务所需的快速高精度的力/位控制,研究双臂空间机器人在轨辅助对接操作的阻抗控制问题.首先,利用Lagrange方法建立双臂空间机器人捕获操作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二阶线性阻抗模型和二阶近似环境模型;接着,利用径向基神经网络(RBFNN)对系统不确定因素进行分块逼近;然后,考虑有限时间内收敛的控制需求,引入添加非线性项并经过分段式改良的快速非线性滑模面(FNSMS),并通过设计边界层函数来抑制所引入的滑模项带来的抖振;最后,通过Lyapunov稳定性判定验证系统的稳定性.仿真结果表明,所提出控制算法收敛速度快、稳定性好、鲁棒性强,可同时实现高精度的力/位控制,其姿态控制精度优于0.5°,位置控制精度优于0.001 m,输出力的控制精度优于0.5 N,满足双臂空间机器人在轨辅助对接操作的任务需求.
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 径向基神经网络 径向基神经网络 有限时间收敛 有限时间收敛 阻抗控制 阻抗控制
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | 刘东博 , 陈力 . 模型分块逼近的双臂空间机器人在轨对接有限时间阻抗控制 [J]. | 控制与决策 , 2025 , 40 (7) : 2098-2106 . |
| MLA | 刘东博 等. "模型分块逼近的双臂空间机器人在轨对接有限时间阻抗控制" . | 控制与决策 40 . 7 (2025) : 2098-2106 . |
| APA | 刘东博 , 陈力 . 模型分块逼近的双臂空间机器人在轨对接有限时间阻抗控制 . | 控制与决策 , 2025 , 40 (7) , 2098-2106 . |
| Export to | NoteExpress RIS BibTex |
Version ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
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.
Cite：
Copy from the list or Export to your reference management。
| 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) . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
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.
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
Aiming at the problem that the joints were easily destroyed by the impact torque during the process of dual-arm space robot on-orbit capturing satellite，a compliance control algorithm based on reinforcement learning was proposed．First，the dynamic models of dual-arm space robot and the satellite system before capture were derived by the Lagrange approach and Newton-Euler method．Then，based on the impulse theorem，the geometrical conditions and Newton's third law，the dynamic model of the hybrid system of space robot and the satellite after capture was established．Considering the unstable hybrid system，a buffer compliance reinforcement learning controller was proposed． The real-time optimization control strategy was generated by interaction with dynamic environment，which could realize optimal control of the stabilization phase．Numerical simulation results show that the proposed control strategy can reduce the impact torque by 54.2% at most，while ensuring the joint impact torque to be limited to a safe range during stabilization phase，which can avoid damage from the impact torque for the joint. © 2024 Huazhong University of Science and Technology. All rights reserved.
Keyword ：
Compliance control Compliance control Compliant mechanisms Compliant mechanisms Environmental regulations Environmental regulations Learning systems Learning systems Orbits Orbits Reinforcement learning Reinforcement learning Robots Robots Satellites Satellites Stabilization Stabilization Torque Torque
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Ai, Haiping , Kaixin, E. , Zhu, An et al. Study on compliance control of space robot capturing satellite based on reinforcement learning [J]. | Journal of Huazhong University of Science and Technology (Natural Science Edition) , 2024 , 52 (5) : 150-157 . |
| MLA | Ai, Haiping et al. "Study on compliance control of space robot capturing satellite based on reinforcement learning" . | Journal of Huazhong University of Science and Technology (Natural Science Edition) 52 . 5 (2024) : 150-157 . |
| APA | Ai, Haiping , Kaixin, E. , Zhu, An , Chen, Li . Study on compliance control of space robot capturing satellite based on reinforcement learning . | Journal of Huazhong University of Science and Technology (Natural Science Edition) , 2024 , 52 (5) , 150-157 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
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. © 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)
Cite：
Copy from the list or Export to your reference management。
| 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) . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Export
| Results： |
Selected to |
| Format： |
