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Communication bus system for microgravity simulation experiment platform for space robots

A technology of microgravity simulation and space robot, applied in bus network, instrument, data exchange through path configuration, etc., can solve the problem that the transmission rate of 1553B bus and CAN bus cannot meet the space robot system, and is conducive to standardization and development Short cycle and good economic benefits

Inactive Publication Date: 2013-09-25
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0006] However, with the development of space robot technology, a large amount of signal data needs to be transmitted, such as joint state data, hand-eye video data and control data, etc. The transmission rate of 1553B bus and CAN bus cannot meet the needs of space robot systems

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  • Communication bus system for microgravity simulation experiment platform for space robots
  • Communication bus system for microgravity simulation experiment platform for space robots
  • Communication bus system for microgravity simulation experiment platform for space robots

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with accompanying drawing

[0027] like figure 1 Shown is the communication bus system of the space robot microgravity simulation experiment platform of the present invention, the high-speed communication bus selects the SpaceWire bus, and the communication between the central control computer and the main control machine adopts a wireless network communication method.

[0028] Space Wire is a high-speed, point-to-point, full-duplex serial bus protocol launched by the European Space Agency in 2003. This protocol is based on IEEE1355-1999 and LVDS standards and provides a common interface standard. The agreement completely stipulates the physical layer, signal layer, character layer, exchange layer, information packet layer, network layer and other 6-layer protocols, and the communication rate can be as high as 400Mb / s.

[0029] For the space robot microgravity simulation experiment platform, the syste...

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Abstract

The invention discloses a communication bus system for a microgravity simulation experiment platform for space robots. The communication bus system relates to selection of high-speed communication buses, design of a bus protocol, design of a bus controller, design of a hardware circuit, and erection of a software platform. A central controller is communicated with a master controller in a bus manner, namely wireless communication manner, thus space environment can be simulated. A Space Wire standard bus is selected for the master controller, a double-joint controller and a grab controller. According to platform demands, the bus protocol is designed with 9 zone bits, 8 command bits and 8 data bits. The hardware circuit is provided with an FPGA having an embedded LEON3 soft-ware processor. A Space Wire IP core is designed as the bus controller to transmit and receive data. Wireless communication applications, a master controller and the double-joint controller are compiled for a central control unit by VC development environment, and an RTEMS is used as a control platform for the grab controller.

Description

technical field [0001] The invention relates to the field of space robot research, and is especially applied to the ground simulation platform system of space flight robots Background technique [0002] Free-Flying Space Robot (FFSR for short) is one of the main research directions in the field of space robots at present. It consists of a robot body (satellite) and a mechanical arm lapped on the body. Freely fly or float in space, and replace astronauts to complete extravehicular operations. [0003] Due to the strong kinematics and dynamics coupling between the arm and the body of FFSR, it is necessary to study the space robot modeling method and control algorithm that can consider this coupling effect. Before, a ground simulation platform had to be built, among which the microgravity simulation experiment platform (referred to as the air flotation platform) was a kind of ground simulation platform. [0004] The bus refers to the public channel for information transmissio...

Claims

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Application Information

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IPC IPC(8): G06F13/38H04L12/40
Inventor 叶平吉雪孙汉旭柳青
Owner BEIJING UNIV OF POSTS & TELECOMM
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