Research On The Minimum Base Disturbance Control And Its Experiment Of The Free-floating Base Manipulator Systems

Space robots can replace astronauts to complete a number of tasks in a complex and changing space environment,which has played for a very important role in the construction of space stations and daily maintenance.However,due to the movement of the free-floating base space manipulator,the base position is not easily controlled to cause disturbance,which will affect the control precision of the end of the manipulator,so it is very important to control the disturbance of the base.At the same time,taking into account the reduction of the task execution time can reduce the amplitude of the instantaneous base reaction,smooth operation and optimize the arm operating time,so improving the efficiency of the arm in space also has practical significance.Aiming at the above problems,this paper studies the minimum disturbance control strategy of the free floating base robot and the optimal control method of the trajectory running time.The research contents of this paper are as follows:Firstly,the free-floating base space manipulator is simplified into a planar threelink model with free-floating base,and the free-floating base of the manipulator is modeled by the Newton-Euler method,and the control strategy is studied.Secondly,for the manipulator with free floating base,this paper completes the local optimal control of the base disturbance problem and the minimum global optimal control based on the linear quadratic optimal base disturbance.In the global optimal control,the pedestrian disturbance force and the base disturbance energy are optimized as linear quadratic optimization to realize the optimization of the base disturbance.The simulation results show that the minimum method of base disturbance based on linear quadratic optimal method can realize trajectory tracking while ensuring that the base disturbance is small.In order to make the manipulator able to react quickly and reach the specified position in time to reduce the instantaneous reaction amplitude of the manipulator,this paper introduces the optimization method of the movement time of the manipulator.And because the time-optimized base disturbance control on the robot trajectory tracking is very important,this paper introduces the control method to achieve the optimization of the running time on the basis of reducing the reaction force of the base and preventing the base from disturbing the movement of the manipulator.Under the constraint of the reaction moment,the time is optimized by the genetic algorithm in the joint space,and a geometric method is introduced in the Cartesian space to realize the optimal trajectory of the manipulator.The simulation results show that the trajectory satisfies the corresponding constraint condition,and also show the effectiveness of the optimization method.Finally,the experimental platform of the free-floating base is set up,the free floating state of the base in space is simulated,the coupling model based on the reaction moment is established,the movement of the base is analyzed,and the minimum disturbance control experiment of the proposed algorithm is completed.The experimental data are compared with the simulation data through the relevant experiments,which verifies the feasibility and effectiveness of the practical application of the control algorithm.