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 ：
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 ：
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 等. "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 ：
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 ：
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 ：
为解决位姿不受控情况下柔性关节空间机器人系统预抓取阶段的关节跟踪控制和振动问题，采用拉格朗日方程并结合动量守恒原理进而建立漂浮基三杆柔性关节空间机器人系统动力学方程。为提高柔性关节的等效刚度，引入关节柔性补偿的方法；即根据奇异摄动理论，将柔性关节空间机器人系统分解为慢变系统和快变系统。在此基础上，针对慢变系统设计以时延估计为主框架的滑模控制方法，同时与低通滤波器相结合消除滑模控制带来的系统抖振问题；针对快变系统设计线性速度差值反馈控制系统，抑制柔性关节给系统带来的柔性振动问题。通过仿真验证空间机械臂能够在有限时间内快速、稳定地跟踪上期望轨迹，证实该控制方案具有较好的鲁棒性和可靠性。
Keyword ：
低通滤波器 低通滤波器 关节柔性补偿 关节柔性补偿 时延估计 时延估计 柔性关节空间机器人 柔性关节空间机器人 滑模变结构控制 滑模变结构控制
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | 徐河振 , 于潇雁 , 张宇涵 et al. 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]. | 国防科技大学学报 , 2024 , 46 (04) : 142-149 . |
| MLA | 徐河振 et al. "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" . | 国防科技大学学报 46 . 04 (2024) : 142-149 . |
| APA | 徐河振 , 于潇雁 , 张宇涵 , 陈力 . 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 . | 国防科技大学学报 , 2024 , 46 (04) , 142-149 . |
| Export to | NoteExpress RIS BibTex |
Version ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
相比地面环境，太空环境中机器人系统暴露在宇宙射线中更容易受到外部干扰，且因难以维护和燃料消耗等原因带来的质量和惯性等系统参数变化使得其更容易存在系统不确定性。针对载体位置不受控的漂浮基空间机器人系统存在系统不确定性和外部干扰的问题，提出了一种基于变论域模糊控制的轨迹跟踪控制方法。在使用计算力矩控制器求解标称系统控制力矩的基础上，使用变论域模糊控制对系统不确定性和外界干扰带来的误差进行补偿。论域范围的实时变化使变论域模糊控制可以适用于不同时刻的不同误差范围，从而有效提高了系统的响应速度，减小了系统的稳态跟踪误差。最后通过李雅普诺夫方法证明控制方案的稳定性，并通过数值仿真证明了控制方法的有效性。
Keyword ：
变论域模糊控制 变论域模糊控制 外部干扰 外部干扰 数值仿真 数值仿真 空间机器人 空间机器人 自适应控制 自适应控制
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | 韩子航 , 陈力 , 韩大鹏 . 基于变论域模糊补偿的空间机器人自适应控制 [J]. | 南京航空航天大学学报 , 2024 , 56 (03) : 424-431 . |
| MLA | 韩子航 et al. "基于变论域模糊补偿的空间机器人自适应控制" . | 南京航空航天大学学报 56 . 03 (2024) : 424-431 . |
| APA | 韩子航 , 陈力 , 韩大鹏 . 基于变论域模糊补偿的空间机器人自适应控制 . | 南京航空航天大学学报 , 2024 , 56 (03) , 424-431 . |
| 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 ：
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： |
