Track planning method of redundant space mechanical arm for on-track catching

A technology for space manipulators and trajectory planning, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as the inability to use space manipulators and the difficulty in applying aerospace tasks

Active Publication Date: 2015-07-08
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As a result, existing algorithms cannot be applied to space manipulators with limited computing resources, and are difficult to apply to space missions

Method used

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  • Track planning method of redundant space mechanical arm for on-track catching
  • Track planning method of redundant space mechanical arm for on-track catching
  • Track planning method of redundant space mechanical arm for on-track catching

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0105] Embodiment 1 is mainly used to verify the validity of the algorithm of the rough capture segment.

[0106] (1) A 7-DOF manipulator is designed. The geometric parameters of the manipulator are shown in Table 1, where the installation point of the first section of the arm is expressed in the coordinate system of the base. For the initial configuration when each joint angle is 0 and the positive direction of each rotation angle, see Figure 4 , the black line in the figure represents the robotic arm, the black circles represent the joints connecting each segment of the robotic arm, and the arrows next to the joints indicate the positive direction of the rotation angle of each joint. At this time, the base coordinate system coincides with the body coordinate system of each section arm, see Figure 4 The coordinate system oxyz in . Figure 4 Among them, 6 is the base installation point of the manipulator, and 7 is the end effector of the manipulator, that is, the seventh ...

Embodiment 2

[0117] Embodiment 2 provides the control method of the entire capture process of the redundant space manipulator.

[0118] (1) Install the robotic arm in Example 1 on a space operation platform to capture a non-cooperative target. First, according to the requirements of the capture task and the measurement of the sensor, the capture point on the non-cooperative target is determined, and the position and attitude of the end effector required for capturing the target are calculated.

[0119] (2) Divide the whole capture process into a rough capture segment and a fine capture segment. The initial state of the rough capture segment is the current configuration of the robotic arm, and the end state of the rough capture segment is set as the end effector of the mechanical arm is located at a certain distance above the capture point (for example, 20cm).

[0120] (3) Based on the position and attitude of the end effector at the end of the rough capture segment set in the previous ste...

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Abstract

The invention relates to a track planning method of a redundant space mechanical arm for on-track catching. The catching operation of the space mechanical arm is divided into a rough catching stage and a fine catching stage, so that problems are simplified. By aiming at outstanding problems of different stages, different planning algorithms are adopted. In the rough catching stage, a track searching algorithm based on configuration space is adopted, and the algorithm is based on the test in the configuration space; and in the fine catching stage, a pseudo-inverse algorithm based on kinematics is adopted, and the final precise catching is guaranteed by compensating the relative movement of a target.

Description

technical field [0001] The invention relates to a trajectory planning method for on-orbit capture of a redundant space manipulator, belonging to the field of spacecraft attitude control. Background technique [0002] In the on-orbit capture operation of the space manipulator, in order to save fuel, the position of the space control platform is not controlled, but only the attitude of the space control platform is stabilized, which belongs to the attitude-controlled free-flying robot. Only the individual joint angles of the manipulator can be controlled arbitrarily. The basic requirement of trajectory planning is to target the desired position and attitude of the end effector, and determine the angular position, angular velocity and angular acceleration trajectory of each joint angle through a certain algorithm, so that the controller can realize the grasping of the mechanical arm. capture operation. Redundancy here means that the robotic arm has 7 degrees of freedom. In ad...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 汤亮何英姿王悦王大轶魏春岭
Owner BEIJING INST OF CONTROL ENG
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