Modeling and Simulation of Space Robot with Unilateral Contact Based on Complementary Problem

doi:10.13209/j.0479-8023.2016.072

Acta Scientiarum Naturalium Universitatis Pekinensis ›› 2016, Vol. 52 ›› Issue (4): 627-633.DOI: 10.13209/j.0479-8023.2016.072

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Modeling and Simulation of Space Robot with Unilateral Contact Based on Complementary Problem

HU Tianjian^1,2, WANG Tianshu¹, LI Junfeng¹, QIAN Weiping²

1. School of Aerospace Engineering, Tsinghua University, Beijing 100084
2. Beijing Institute of Tracking and Telecommunication Technology, Beijing 100094

Received:2015-12-30 Revised:2016-02-02 Online:2016-07-20 Published:2016-07-20
Contact: HU Tianjian, E-mail: lgi2004(at)163.com

基于互补问题描述单边接触的空间机器人动力学建模与数值仿真

胡天健^1,2, 王天舒¹, 李俊峰¹, 钱卫平²

1. 清华大学航天航空学院, 北京 100084
2. 北京跟踪与通信技术研究所, 北京 100094

通讯作者: 胡天健, E-mail: lgi2004(at)163.com
基金资助:
国家自然科学基金(11402004)资助

Abstract

Abstract:

Traditionally, the contact between the end-effector and the target is modeled as a parallel spring-damp model, which requires a time-consumed tuning of values of stiffness and damping factor and an extra force sensor fixed on the end-effector. The above drawbacks inspire the application of complementary problem to uniformly describe the unilateral contact for space robot. A dynamical equation of the space robot with unilateral contact is derived, and a numerical method is developed utilizing the Lemke algorithm. By numerical calculation of a planar 3 degree-of-freedom (DOF) manipulator fastened on a 3 DOF floating base, the effectiveness of the dynamical model is verified.

Key words: dynamics, space robot, unilateral contact, complementary problem

摘要：

针对弹簧-阻尼(spring-damp, SD)并联模型描述机器人接触作业时需要耗时调节刚度、阻尼系数, 并在接触末端额外安装力传感器等缺陷, 基于互补问题, 描述空间机械臂末端与目标的单边接触, 推导具有紧凑数学形式的空间机器人接触动力学模型。采用 Lemke 算法设计动力学模型的数值计算方法, 并通过数学仿真验证动力学模型的有效性。

关键词: 动力学, 空间机器人, 单边接触, 互补问题

CLC Number:

O313

HU Tianjian, WANG Tianshu, LI Junfeng, QIAN Weiping. Modeling and Simulation of Space Robot with Unilateral Contact Based on Complementary Problem[J]. Acta Scientiarum Naturalium Universitatis Pekinensis, 2016, 52(4): 627-633.

胡天健, 王天舒, 李俊峰, 钱卫平. 基于互补问题描述单边接触的空间机器人动力学建模与数值仿真[J]. 北京大学学报（自然科学版）, 2016, 52(4): 627-633.

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URL: https://xbna.pku.edu.cn/EN/10.13209/j.0479-8023.2016.072

https://xbna.pku.edu.cn/EN/Y2016/V52/I4/627

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Modeling and Simulation of Space Robot with Unilateral Contact Based on Complementary Problem

基于互补问题描述单边接触的空间机器人动力学建模与数值仿真

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