利用动态耦合优化太空机械臂轨迹，提升在轨服务效率
Understanding and Utilizing Dynamic Coupling in Free-Floating Space Manipulators for On-Orbit Servicing
- 通过奇异值分解识别耦合主导成分，量化其强弱与方向
- 融合耦合特性优化轨迹，仿真显示可实现更高效操作
- 适合研究空间机械臂控制与在轨服务的工程师与学者
本研究提出一种考虑动态耦合的自由浮动空间机械臂系统（SMS）轨迹优化算法。机械臂基座与臂段间的动态耦合对系统行为具有关键影响。以往研究多聚焦于抑制耦合，忽视其潜在优势；本文则探索如何利用动态耦合改善轨迹规划。通过奇异值分解（SVD）分析动态耦合矩阵，识别主导耦合成分，并构建量化指标表征耦合强度与方向性，融入轨迹优化框架。为验证优化轨迹可行性，设计基于滑模控制的跟踪控制器以生成所需关节扭矩。仿真结果表明，在轨迹规划中显式考虑动态耦合，可实现更智能、更高效的系统运行，为自由浮动SMS的控制提供新思路。
原文摘要 · Abstract (English)
This study proposes a dynamic coupling-informed trajectory optimization algorithm for free-floating space manipulator systems (SMSs). Dynamic coupling between the base and the manipulator arms plays a critical role in influencing the system's behavior. While prior research has predominantly focused on minimizing this coupling, often overlooking its potential advantages, this work investigates how dynamic coupling can instead be leveraged to improve trajectory planning. Singular value decomposition (SVD) of the dynamic coupling matrix is employed to identify the dominant components governing coupling behavior. A quantitative metric is then formulated to characterize the strength and directionality of the coupling and is incorporated into a trajectory optimization framework. To assess the feasibility of the optimized trajectory, a sliding mode control-based tracking controller is designed to generate the required joint torque inputs. Simulation results demonstrate that explicitly accounting for dynamic coupling in trajectory planning enables more informed and potentially more efficient operation, offering new directions for the control of free-floating SMSs.
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