Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control
The impedance control of a dual-arm space robot in orbit auxiliary docking operation is studied. First, for the closed-chain hybrid system formed by the dual-arm space robot after capture operation, the dynamic equation of position uncontrolled and attitude controlled is established. The second-orde...
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2024-10-01
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| author | Dongbo Liu Li Chen |
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| description | The impedance control of a dual-arm space robot in orbit auxiliary docking operation is studied. First, for the closed-chain hybrid system formed by the dual-arm space robot after capture operation, the dynamic equation of position uncontrolled and attitude controlled is established. The second-order linear impedance model and second-order approximate environment model are established for the problem of simultaneous output force/pose control of the end of the manipulator. Then, aiming at the transient performance control requirements of the dual-arm space robot auxiliary docking operation in orbit, a sliding mode controller with equivalent replacement of tracking errors is designed by introducing Prescribed Performance Control (PPC) theory. Next, Radial Basis Function Neural Networks (RBFNN) are used to accurately compensate for the modeling uncertainties of the system. Finally, the stability of the system is verified by Lyapunov stability determination. The simulation results show that the attitude control accuracy is better than <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>0.5</mn><mo>°</mo></mrow></semantics></math></inline-formula>, the position control accuracy is better than <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msup><mrow><mn>10</mn></mrow><mrow><mo>−</mo><mn>3</mn></mrow></msup></mrow></semantics></math></inline-formula> m, and the output force control accuracy is better than 0.5 N when it reaches 30 N. It also indicated that the proposed control algorithm can limit the transient performance of the controlled system within the preset range and achieve high-precision force/pose control, which ensures a more stable on-orbit auxiliary docking operation of the dual-arm space robot. |
| format | Article |
| id | doaj-art-37ce9d0f45fb465ca9414c2b56801cea |
| institution | Kabale University |
| issn | 2226-4310 |
| language | English |
| publishDate | 2024-10-01 |
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| series | Aerospace |
| spelling | doaj-art-37ce9d0f45fb465ca9414c2b56801cea2024-11-26T17:42:44ZengMDPI AGAerospace2226-43102024-10-01111186710.3390/aerospace11110867Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance ControlDongbo Liu0Li Chen1School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, ChinaSchool of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, ChinaThe impedance control of a dual-arm space robot in orbit auxiliary docking operation is studied. First, for the closed-chain hybrid system formed by the dual-arm space robot after capture operation, the dynamic equation of position uncontrolled and attitude controlled is established. The second-order linear impedance model and second-order approximate environment model are established for the problem of simultaneous output force/pose control of the end of the manipulator. Then, aiming at the transient performance control requirements of the dual-arm space robot auxiliary docking operation in orbit, a sliding mode controller with equivalent replacement of tracking errors is designed by introducing Prescribed Performance Control (PPC) theory. Next, Radial Basis Function Neural Networks (RBFNN) are used to accurately compensate for the modeling uncertainties of the system. Finally, the stability of the system is verified by Lyapunov stability determination. The simulation results show that the attitude control accuracy is better than <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>0.5</mn><mo>°</mo></mrow></semantics></math></inline-formula>, the position control accuracy is better than <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><msup><mrow><mn>10</mn></mrow><mrow><mo>−</mo><mn>3</mn></mrow></msup></mrow></semantics></math></inline-formula> m, and the output force control accuracy is better than 0.5 N when it reaches 30 N. It also indicated that the proposed control algorithm can limit the transient performance of the controlled system within the preset range and achieve high-precision force/pose control, which ensures a more stable on-orbit auxiliary docking operation of the dual-arm space robot.https://www.mdpi.com/2226-4310/11/11/867dual-arm space roboton-orbit auxiliary dockimpedance controlRBFNNPPC |
| spellingShingle | Dongbo Liu Li Chen Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control Aerospace dual-arm space robot on-orbit auxiliary dock impedance control RBFNN PPC |
| title | Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control |
| title_full | Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control |
| title_fullStr | Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control |
| title_full_unstemmed | Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control |
| title_short | Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control |
| title_sort | dual arm space robot on orbit operation of auxiliary docking prescribed performance impedance control |
| topic | dual-arm space robot on-orbit auxiliary dock impedance control RBFNN PPC |
| url | https://www.mdpi.com/2226-4310/11/11/867 |
| work_keys_str_mv | AT dongboliu dualarmspacerobotonorbitoperationofauxiliarydockingprescribedperformanceimpedancecontrol AT lichen dualarmspacerobotonorbitoperationofauxiliarydockingprescribedperformanceimpedancecontrol |