考虑基座振动抑制的双空间机械臂协同阻抗控制

An optimal reaction cooperative impedance control method is proposed for the compliant response to the internal/external force of the object，vibration suppression of the base，and collision avoidance of the two arms，which are faced during the tightly-coupled cooperative operation of the flexible based dual-arm space manipulator. Firstly，a system model of the tightly-coupled flexible based dual-arm space manipulator is established. Then，the compliant response to the external and internal forces applied to the object is realized by using an object-level impedance controller and an end-effector-level impedance controller，respectively. Then，the optimal self-motion vector in the null space of the dual-arm space manipulator is obtained by using the optimal control of the base energy dissipation and the artificial potential field method. The vibration suppression of the base and the collision avoidance between the two manipulators are realized simultaneously through the null space self-motion of the redundant space manipulator. Finally，the effectiveness of the cooperative impedance control method in solving the compliant response of internal/external force of the object，vibration suppression of the base，and dual-manipulator collision avoidance problems is verified in the dynamics simulation software.