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Flexible follow-up control method for spacecraft mechanical arm

A technology for manipulators and spacecraft, applied in the control field of manipulators, can solve problems such as difficult installation work, long adjustment time, and difficulty in controlling installation accuracy, and achieve the effects of solving assembly problems, intuitive operation, and good adaptability

Inactive Publication Date: 2014-03-19
BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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  • Application Information

AI Technical Summary

Problems solved by technology

This assembly method has certain limitations: for the installation of large-depth parts, due to the limitation of the operator's arm span, it is difficult to complete the installation work; for large-mass parts, manual lifting for a long time is likely to cause fatigue and affect the operation safety; in the case of narrow operating space, it is difficult to adjust the posture of the installed part by manual lifting in a small space, and it is easy to collide with surrounding objects; for parts that require high installation accuracy, manual installation is difficult to control Installation accuracy, long adjustment time
[0008] However, none of these existing control methods can achieve follow-up control, which is not enough to truly reflect the assembly requirements and perform real-time control

Method used

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  • Flexible follow-up control method for spacecraft mechanical arm

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Experimental program
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Effect test

Embodiment approach 1

[0036] Such as figure 1 As shown, the six-axis force sensor 2 is installed between the end flange 7 of the mechanical arm 1 and the clamp 6 , the operated part 3 is clamped by the clamp 6 , and the operator 4 pushes the operated part 3 with his hand 5 . The combination of the operated part 3 and the fixture 6 is the load of the six-dimensional force sensor 2. According to the "Spacecraft Manipulator Flexible Follow-up Control Gravity Compensation Method", the gravity and the center of gravity position of the operated part 3 and the fixture 6 are pre-set. Equal gravity information is measured and used for gravity compensation in flexible follow-up control. For the specific gravity compensation method of spacecraft manipulator flexible follow-up control, refer to Chinese patent 201310552492.0.

[0037] The control system (not shown in the figure) acquires the force and moment information sensed by the six-dimensional force sensor 2 in real time, and the force and moment informat...

Embodiment approach 2

[0046] Such as figure 2 As shown, the clamp 6 is directly installed on the end flange 7 of the mechanical arm 1, the operated part 3 is clamped by the clamp 6, the six-dimensional force sensor 2 is installed on the clamp 6, and the operating handle 8 is fixedly connected to the six-dimensional force sensor 2 , The operator 4 acts on the operating handle 8 with his hand 5 .

[0047] The difference between this embodiment and Embodiment 1 is that the six-dimensional force sensor 2 does not bear the gravity of the operated part 3 and the clamp 6, and the gravity of the operating handle 8 is small, so that the interference caused by the six-dimensional force sensor 2 sensing the action of the hand 5 can be reduced. Neglected, gravity compensation is not performed in the flexible servo control, and the six-dimensional force sensor 2 can directly sense external force information. The rest are the same as Embodiment 1.

[0048] Among them, the six-dimensional force sensor is a wel...

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Abstract

The invention discloses a flexible follow-up control method for a spacecraft mechanical arm. A load at the tail end of the mechanical arm is directly acted by human hands, and a control system control the mechanical arm to produce actions through certain control algorithm according to the force application condition of the human hands to enable the tail end to move along with the hands. The method has the advantages that the load at the tail end of the mechanical arm moves along with the human hands according to intentions of an operator, which is similar to operating of an object hung in the air by workers, and accordingly, workers can perform position adjustment visually on the load at the tail end of the mechanical arm according to daily formed object operating habits of the workers; the stable and reliable and high-accuracy characteristics of the mechanical arm are combined with the flexibility of worker observation and operation, and the method is applicable to complex and changeable assembly conditions of spacecrafts.

Description

technical field [0001] The invention belongs to the technical field of control of a mechanical arm, and in particular, the invention relates to a method for controlling the end of the mechanical arm to adjust the pose of the human hand by using an external force such as the force applied by the human hand on the end of the mechanical arm. Background technique [0002] The development of spacecraft has the characteristics of single piece and small batch. The current assembly operation relies heavily on manual operations, supplemented by simple tools such as spreaders, elevators, and ladders to assemble different spacecraft. This assembly method has certain limitations: for the installation of large-depth parts, due to the limitation of the operator's arm span, it is difficult to complete the installation work; for large-mass parts, manual lifting for a long time is likely to cause fatigue and affect the operation safety; in the case of narrow operating space, it is difficult ...

Claims

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Application Information

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IPC IPC(8): B25J13/08
Inventor 刘宏阳傅浩唐赖颖胡瑞钦张立建卫月娥易旺民万毕乐孙继鹏布仁张成立郭静然
Owner BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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