Research On Dynamics Modeling And Control Of7-DOF Redundant Manipulator

Dynamics and control of space redundancy manipulator exist its particularity. Thecalculation of dynamics algorithms of7-DOF manipulator is always so large, and theredundant manipulator also have "self-motion", how to built the model and control ofredundant manipulator is difficult in the study of robot. For these problems, the maincontents of this paper include: forward dynamics based on articulated body,parameterize the self-motion using configuration control, coordination control based onestimated torque feedback control method, force control based on augmented hybridimpedance control.Firstly, the multi-body dynamics were reviewed to determine the real-timedynamics modeling ideas for the space manipulator in this paper, the use of spacemanipulator dynamics model based on articulated body. Secondly, we did a review ofredundant manipulator control to determine the redundant manipulator control strategy.The Articulated-Body Algorithm studied in this paper based on the notation ofspatial vector is efficient and easy to transplant. In order to test the correctness of thealgorithm, a model is built in SimMechanics, the simulation results show that thealgorithm studied in this paper can simulate the motion of space manipulator.In order to overcome redundant robotic manipulator "self-motion" problem inposition control, this control strategy based on kinematic configuration, select the angleof the arm kinematic configuration control function parameters "of self-motion." To testthe correctness of the algorithm, this paper established a space seven degrees offreedom manipulator numerical simulation system, the simulation results show that thealgorithm can control the redundant manipulator, and parameterize its "self-motion".The coordination control of free-flying space robot based on estimated torquefeedback control method is adopted in this paper to solve the problem of overmuchenergy consuming of traditional closed-loop control. The numerical simulation systemof coordinated control system is established to verify the availability, the simulationresults show that the energy consuming of attitude control system based on coordinatedcontrol is less than that of traditional closed-loop control system.The manipulator cannot realize accurate force control when interacting with theenvironment, so the augmented hybrid impedance control is adopted in this paper toachieve accurate mutual force action. Moreover, the kinematic configuration control atacceleration level is applied to overcome redundancy. The numerical simulation systemof the7-DOFs redundant manipulator based on augmented hybrid impedance control is built, the simulation result show the manipulator can maintain impedance in positioncontrol direction and precise force tracking in force control direction.