Abstract
In order to meet the requirements of the space environment for the lightweight and load capacity of the manipulator, this paper designs a lightweight space manipulator with a weight of 9.23 kg and a load of 2 kg. It adopts the EtherCAT communication protocol and has the characteristics of high load-to-weight ratio. In order to achieve constant force tracking under the condition of unknown environmental parameters, an integral adaptive admittance control method is proposed. The control law is expressed as a third-order linear system equation, the operating environment is equivalent to a spring model, and the control error transfer function is derived. The control performance under the step response is further analyzed. The simulation results show that the proposed integral adaptive admittance control method has better performance than the traditional method. It has no steady-state error, overcomes the problems caused by nonlinear discrete compensation, and can facilitate analysis in the frequency domain, realize parameter optimization, and improve calculation accuracy.
Highlights
Space robots are developing in the direction of intelligence and lightweight [1]
In view of the drawbacks of the above method due to the addition of discrete compensation terms, this paper proposes an integral adaptive control algorithm based on admittance, which is a third-order linear system that does not contain discrete compensation terms
A lightweight space manipulator is developed, which has the characteristics of compact structure and high load-to-weight ratio
Summary
Space robots are developing in the direction of intelligence and lightweight [1]. The lightweight space manipulator meets the weight reduction needs of aerospace, and has the characteristics of high load-to-weight ratio. Space: Science & Technology impossible to use hyperbolic transformation to z-function to obtain the differential equation solution It can only be solved by the iterative method, which has poor accuracy [15]. Karami et al proposed an observer-based state feedback stabilizer design for a class of chaotic systems with external disturbances and Lipchitz nonlinearity. They used linear matrix inequalities to obtain the stabilizer and observer parameters, which made the state error converge to origin [16]. Pujol-Vazquez et al use linear matrix inequality technology to design effective output feedback control and propose a robust delay-dependent controller based on H∞ theory [18]. The expected force response transfer function and the environmental error response transfer function are derived, and the step response is used as the evaluation index to analyze the influence of the control parameters on the control performance
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