Kinematics real-time solving method based on seven-DOF space manipulator of FPGA

Abstract

The invention discloses a kinematics real-time solving method based on a seven-DOF space manipulator of an FPGA. The kinematics solving method is related to five function modules, respectively, a sine and cosine solving module, a positive solution module, a Jacobian matrix solving module, an inversion module and a joint angular speed solving module. The sine and cosine solving module is used for computing sine and cosine values of each joint angle of the manipulator and inputting the sine and cosine values of each joint angle of the manipulator to the positive solution module to solve a homogeneous transformation matrix, then, the Jacobian matrix solving module is used for computing each line of a Jacobian matrix relative to a tail end coordinate system through the homogeneous transformation matrix to obtain a Jacobian matrix and a full rank matrix relative to a reference coordinate system through computation and outputting the full rank matrix to the inversion module for inversion. When inversion operation is completed, the full rank matrix is output to the joint angular speed solving module and is multiplied with a transpose of the Jacobian matrix relative to the reference coordinate system, then, pseudo-inversion of the Jacobian matrix can be obtained, finally, the angular speed of each joint can be obtained by multiplying the tail end speed, and the whole kinematics solving can be completed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an FPGA-based real-time solution method for the kinematics of a seven-degree-of-freedom space manipulator. Background technique [0002] In the field of robot control technology, the problem of robot control has been the research topic of many scholars in the field of control. In the robot control system, almost all methods provided by modern control theory have been tried. [0003] With the continuous development of space technology, space manipulators play an irreplaceable role in human exploration of space activities. The space manipulator can replace astronauts to perform a large number of space on-orbit operations, such as the construction, maintenance and service of large space stations, the recovery of satellites, the maintenance of space equipment, and the surface exploration of planets, etc., which greatly reduces the extravehicular operations of astronauts. Therefore, t...

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Problems solved by technology

In traditional spacecraft control systems, aerospace-grade CPUs with anti-radiation hardening capabilities are mostly used, and system tasks are converted into sequential execution of instructions. Therefore, the computing power is mainly determined by the frequency, but the space environment limits the system to low It runs at a lower frequency, and aerospace-grade CPUs with powerful computing capabilities are rarely heard in published literature.

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