Planar simulation and verification platform for four-degree-of-freedom robot arm control system

Abstract

The invention discloses a planar simulation and verification platform for a four-degree-of-freedom robot arm control system, comprising four simulated robot arm joints, one set of six-dimensional force sensors, two arm rods, one end executor with binocular visual camera, one set of remote measurement camera and remote measurement camera controller, one set of middle distance measurement camera and middle distance measurement camera controller, a UMAC (Universal Motion and Automation Controller) motion control card, an industrial personal computer, a gas floating platform and a simulated fixing wall. Under the planar motion state, the planar simulation and verification platform for the four-degree-of-freedom robot arm control system can realize the verification of a simulation test on a high-precision and high-stability servo control algorithm for a great-load and multiple-degree-of-freedom system of a large spatial robot arm, the verification of a control test on the grasping, collision dynamics and control of the end executor, and the verification of a simulation test on the coupling characteristics between the dynamics of the spatial robot arm and the control system; moreover, the planar simulation and verification platform undergoes iterative analysis with a simulated model; and therefore, a verification method is provided for the breakthroughs of a spatial large robot arm control system algorithm and a key technique.

Description

technical field [0001] The invention relates to a control system of a large space manipulator and a ground simulation verification technology of an end capture and release mechanism, belonging to the technical field of mechanisms, in particular to a simulation verification platform for a planar four-degree-of-freedom manipulator control system. Background technique [0002] The space manipulator belongs to the space large-scale multi-degree-of-freedom, large-span, multi-body motion system, and its three-dimensional space movement is difficult to realize under the ground gravity state. Collision problems, design and verification of dynamics-based control algorithms, and coupling characteristics of dynamics and control systems are difficult to verify on the ground. The International Space Station Manipulator System (SSRMS) and the International Space Station European Arm (ERA) both use simulation methods, but there is still a big gap between system simulation and actual applic...

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Problems solved by technology

[0002] The space manipulator belongs to the space large-scale multi-degree-of-freedom, large-span, multi-body motion system, and its three-dimensional space motion is difficult to realize under the ground gravity state. Some key technologies of the control system: such as multi-degree-of-freedom system Collision problems, design and verification of dynamics-based control algorithms, coupling characteristics of dynamics and control systems, etc. are difficult to verify on the ground

The International Space Station Manipulator System (SSRMS) and the International Space Station European Arm (ERA) both use simulation methods, but there is still a big gap between the system simulation and the actual application

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