Integrated Position And Attitude Planning And Control For Redundant Multi-DOF Space Manipulators

The space manipulator occupies an important status in on-orbit operational missions,such as on-orbit maintenance,on-orbti assembly,auxiliary filling,and auxiliary docking.At this stage the more complex on-orbit operational missions propose high technical demand of the space manipulator.And,as the core technology of the space manipulator,the control technology directly determines the success or failure of the on-orbit operational missions.However,the existing control methods cannot meet the control requirements of high precision and high efficiency.This is because the position and the attitude of the space manipulator are controlled separately in the existing control methods,and the position and the attitude are calculated joint by joint.In this case,this paper takes a deep research on the control technology of the space manipulator by combining the scientific research project(The Basic Scientific Research Projects of the Ministry of Industry and Information Technology of China).And,this paper concentrates on the problem of the integrated attitude and position dynamics modle for the space manipulator,the problem of the integrated attitude and position path planning,and the problem of the integrated attitude and position control.The spaceific works are as follows:An intergrated attitude and position dynamics modle was bulided for the multi-DOF space manipulator based on the dual quaternion.First,a variable was defined based on the dual quaternion for the description of the motion state of the space manipulator.Then,the dynamic coupling between the position and the attitude of the manipulator,the dynamic coupling between the manipulator and the spacecraft base,the dynamic coupling between the joints of the manipulator were analyzed.And,the integrated position and attitude dynamics model was builded based on the analysis.An obstacle avoidance path planning algorithm based on the rapidly-exploring random tree algorithm and the forward and backward reaching inverse kinematics algorithm was proposed for the obstacle avoidance problem of the multi-DOF space manipulator in the complex space environment with obstacles.First,an obstacle avoidance path algorithm for the end-effector of the manipulator was designed.And,the algorithm solves the problem of low search efficiency of the rapidly-exploring random tree algorithm.Then,a forward and backward reaching inverse kinematics algorithm with joint constraints was designed.And,the algorihtm solves the problems of large calculation amount and low calculation efficiency for each joint state calculated by the end effector.A path planning algorithm based on the interference compensation strategy and convex optimization theory was proposed for the problem of the operating accuracy reduction of the manipulator caused the change of the position and attitude of the spacecraft base with the motion of the space manipulator.First,a mission manipulator and a balancing manipulator were defined.And,using the mission manipulator realizes the on-orbit operation mission,using the balancing manipulator realizes the compensating torque output.Then,an integrated controller for the spacecraft base was designed,it solves the problem of the time delay between the spacecraft attitude change and the mission manipulator movement.Finally,the convex optimization problem was established,it solves the problems of low computational efficiency and large amount of calculation of the interference compensation path of the balance manipulator.An optimal joint state tracking control algorithm based on Guess-Newton iterative algorithm and adaptive control theory was designed for the tracking control problem of multi-DOF end effector of the space manipulator.First,an optimal joint state planning algorithm based on Guess-Newton iteration was designed to solve the problems of low efficiency and singularity in the state planning of each joint state calculated by the end effector.Then,an adaptive tracking control algorithm based on adaptive update law and fuzzy theory was designed to solve the problem of uncertain dynamic parameters of the manipulator and oscillation in the stable stage.A finite-time tracking control algorithm based on sliding mode interference observer and terminal sliding mode control law was designed for the tracking control problem of multi-DOF space manipulator in a complex environment with interference.First,a sliding mode interference observer that does not assume interference upper bounds was designed to make the algorithm more applicable.Then,a terminal sliding mode control algorithm based on sliding mode interference observer was designed to solve the problems of slow convergence speed and low tracking progress of the space manipulator.Finally,an example of the on-orbit operation of the space manipulator was proposed for the verification of the algorithm designed in this paper.The example was combined with the integrated position and attitude dynamics model,the path planning algorithms and the control algorithms.The overall structure and the data flow of the example were designed.Through the examples to further verify the correctness and effectiveness of the algorithm designed in this paper.