System and method for dynamics simulation of space robot

A space robot and dynamics simulation technology, applied in the field of simulation, can solve problems such as incomplete functions of simulation tools and lack of space robot simulation

Active Publication Date: 2014-02-12
AEROSPACE DONGFANGHONG DEV LTD
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AI Technical Summary

Problems solved by technology

[0005] The shortcomings of the current space robot dynamics simulation system are: as a simulation tool for the full mission stage of the space robot, the functions are not complete, and the simulation of the remote guidance stage of the space robot is lacking.

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  • System and method for dynamics simulation of space robot

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Embodiment Construction

[0032] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0033] The system and method provided by the embodiments of the present invention are to provide a complete simulation tool for the full task stage of the space robot. It has the functions of simulation verification and three-dimensional demonstration of the overall design plan and task plan of the space robot, and has the function of verifying the navigation, guidance and control of the space robot. function of the algorithm.

[0034] In the specific implementation, the space robot dynamics simulation and 3D demonstration platform can be built in a modular way, the main module is realized by the Simulink simulation tool of Matlab, the long-term orbit forecast is realized by the satellite toolbox STK, and the 3D display part is realized by STK and OSG technology , using C++ language programming, the simulation data is stored in the Oracle database. The...

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Abstract

The invention discloses a system and method for dynamics simulation of a space robot. The method for dynamics simulation of the space robot comprises the steps that a space robot dynamics module outputs a value representing the motion state of the space robot in the remote guiding stage according to the control force and the control moment which are received by a space robot platform and the control moment of a mechanical arm system joint and after the returned control amount is received, a value representing the motion state of the space robot at the next moment is output; after a space robot control module receives the value which is input by the space robot dynamics module and represents the motion state of the space robot in the remote guiding stage, the control amount is returned to the space robot dynamics module by the space robot control module; an STK long-term orbit prediction module outputs the motion state of the space robot and the motion state of a target in the remote guiding stage according to a value representing the motion initial state of the target, the value representing the motion state of the space robot and the orbital transfer sequence of the space robot. According to the system and method for dynamics simulation of the space robot, complete simulation of the whole task stage of the space robot can be provided.

Description

technical field [0001] The invention relates to simulation, in particular to a space robot dynamics simulation system and method. Background technique [0002] Space robots are special spacecraft used for on-orbit services. They can refuel and replace modules on orbiting spacecraft to prolong the service life of the spacecraft, and can also repair faulty spacecraft. Space robots are generally composed of It consists of a robot platform and a robotic arm system. [0003] The space robot dynamics simulation refers to the simulation of the dynamic process of the space robot during the entire task stage. Space robot tasks include tasks such as normal orbital operation, approaching the target, and operating the target. In addition to the dynamics equation solution, the dynamics simulation also includes It is related to the simulation of the robot's navigation, guidance and control algorithm layer, and the simulation of the space environment. [0004] Through the space robot dyn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
Inventor 王学谦苏建敏薛力军徐秋
Owner AEROSPACE DONGFANGHONG DEV LTD
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