基于被动式伸缩臂杆的 SSRMS 构型可重构空间机械臂重构控制策略

The SSRMS-type reconfigurable space manipulator, based on passive telescopic links, can alter its scale by adjusting the lengths of two telescopic links. While inheriting the advantages of traditional SSRMS-type space manipulators, it possesses the capability of scale reconfigurability and is expected to play a significant role in future on-orbit missions. However, the passive telescoping scheme employed in its telescopic links poses challenges for the design of the reconfiguration operation controller. To address this, a joint torque optimization control method with singularity robustness is proposed to achieve precise control over the manipulator's reconfiguration operations. Firstly, the dynamic equations of the manipulator in reconfiguration operation mode are derived by employing a mapping projection operator-based dynamics modeling approach. Based on this, a Lyapunov-based controller is designed using the concept of linear projection operators. By sending drive torque commands solely to the active rotational joints, the released passive telescopic links can achieve the desired motion, thereby enabling the reconfiguration operation of the manipulator. Meanwhile, the controller ensures the minimization of active joint drive torques and the absence of any driving force at the released passive telescopic links. Subsequently, the damping least-squares inverse of the submatrix of the projection matrix in the motion constraint equation is introduced into the controller, endowing it with singularity robustness. Finally, simulation verification of reconfigurable operation control is conducted, and the results demonstrate that the proposed method is suitable for precise reconfiguration control tasks of the SSRMS-type reconfigurable space manipulator.