摘要
由于地外天体风化层环境的不确定性,执行浅层钻取采样任务时易受到潜在障碍物的干扰,而对于采样时感知环境并进行机构姿态调整的研究相对较少。为提高采样成功率、改善作业时末端机构受力情况,提出了一种应用于地外风化层采样任务的机械臂自主避障控制方法。设计了能够辅助旋转避障与平移探进的三自由度机械臂,并进行了运动学分析。通过搭载三维力传感器获取采样器受力信息,结合导纳控制与旋转避让进行障碍规避。为验证方法可行性,进行了多组仿真实验和实物实验。实验结果表明,所提出的方法能够有效帮助采样器避让障碍物体,显著减小了作业阻力,X、Y、Z三方向最大受力的改善分别达到46.7%、57.0%、64.9%,改善了常规柔顺方法应用于浅层钻取时易受干扰的不足。
Due to the inherent uncertainties associated with extraterrestrial bodies′regolith environments,the implementation of shallow drilling sampling tasks can be easily hindered by potential obstacles.There is few researches addressing the perception of the environment and the adjustment of mechanism posture during the sampling process.To improve the success rate of sampling and ameliorate the resistance of end-effector during operations,a novel autonomous obstacle avoidance control method is proposed for extraterrestrial regolith sampling tasks.A three-degree-of-freedom manipulator is designed,which is capable of assisting drilling with rotational motion for obstacle avoidance,and kinematic analysis is performed.By utilizing a three-dimensional force sensor to acquire the sampler′s force information,the admittance control and rotational motions are combined for obstacle avoidance.To evaluate the feasibility of the method,several sets of simulation experiments and physical experiments are conducted.Experimental results show that the proposed method can effectively assist the sampler in avoiding obstacles,and significantly reduce the resistance encountered by the end effector during sampling,with improvements in the maximum forces experienced in the X,Y,and Z directions reaching 46.7%,57.0%,and 64.9%,respectively.In addition,the method addresses the deficiencies of conventional compliant methods,which are prone to interference when applied to shallow drilling.
作者
赵子弈
朱利丰
宋爱国
Zhao Ziyi;Zhu Lifeng;Song Aiguo(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2023年第7期133-142,共10页
Chinese Journal of Scientific Instrument
基金
电子学会-腾讯Robotics X犀牛鸟专项研究计划项目资助。
关键词
风化层采样
地外探索
采样机械臂
自主避障
导纳控制
regolith sampling
extraterrestrial exploration
sampling manipulator
autonomous obstacle avoidance
admittance control
