Dynamic Analysis And Impendance Control Strategy Of The Space Flexible Manipulator On Contact Operation

With the advancement of space exploration, space manipulator plays an indispensable role in complex space environments and dangerous tasks as an assistive tool. However, it will cause the joint deformation /arm deformation during the movement, because of the characteristics of the manipulator structure, which will increase the difficulty of controlling the trajectory / contact force of the robot end effector. In order to solve this problem, this paper mainly studies the dynamic characteristics of flexible manipulator and controlling the contact force of the end of the manipulator with flexible joint / flexible arm, and designs the impedance control algorithm to realize the flexibility of the contact process. As follows is idiographic research:Firstly, based on the Kane equation, the dynamics equations of manipulators with the flexible joint / flexible arm are considered. The dynamic characteristics of the different deformation and the contact deformation of the end of the manipulator with flexible joint / flexible arm under the contact condition are analyzed. The simulation is carried out by MATLAB.Secondly, in consideration of the manipulator with flexible joint /flexible arm, the impedance control algorithm is studied .Based on the flexible joint / flexible arm dynamic equation the impedance control algorithm is deduced to study the control response of trajectory tracking of the manipulator in cartesian space of free movement and the control response of the desired force at the end of contact, and the conventional impedance control algorithms are compared. The results are compared with impedance control which is not included in the joint flexibility and the arm flexibility and the simulation is made by MATLAB / Simulink to verify the correctness of the program.Then, because of the uncertainty of the external environment and the imprecision of the dynamic model the adaptive impedance control algorithm is deduced and the targeted impedance parameters under control are optimized by the particle swarm optimization algorithm. And comparative analysis the effectiveness of particle swarm optimization The robustness of the adaptive impedance control algorithm is studied under different environments and the simulation is made by MATLAB /Simulink to verify the correctness of the program.Finally the united simulation are made by ADAMS and MATLAB /Simulink, a subsystem of the model of the manipulator is built by using Adams and the subsystem of control modules is established by using Simulink. Finally, a joint simulation model of the manipulator system and the control system is established to verify the correctness of the program.