Method for coordination control over satellite arms of space robot based on expanded Jacobian matrix

A space robot, Jacobian matrix technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of convenient high-precision control, simple method structure, and avoidance of dynamic calculation

Inactive Publication Date: 2014-06-18
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The invention provides a space robot star-arm coordinated control method based on the extended Jacobian matrix to solve the problem of overall coordinated control of the space manipulator and the base satellite when the space manipulator is working in orbit, and then realize the guarantee of the carrier satellite while the manipulator completes the space task. The attitude is basically unchanged; at the same time, by optimizing the motion trajectory of the manipulator, the base satellite consumes the least amount of energy when compensating for the reaction torque generated by the manipulator

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  • Method for coordination control over satellite arms of space robot based on expanded Jacobian matrix
  • Method for coordination control over satellite arms of space robot based on expanded Jacobian matrix
  • Method for coordination control over satellite arms of space robot based on expanded Jacobian matrix

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specific Embodiment approach 1

[0021] Specific embodiment one: combination figure 1 , figure 2 with image 3 To describe this embodiment, this embodiment is completed by the following steps:

[0022] Step 1: Calculate the kinematics and dynamics parameters of the space robot including the robotic arm and the base satellite through ProE modeling;

[0023] Step 2: Establish the overall mathematical model of the space robot based on the extended Jacobian matrix;

[0024] Step three, use the Moore-Penrose pseudo-inverse solution method to design the space robot star-arm coordination controller (see equation (6));

[0025] Step 4: Parameterize the end trajectory of the space manipulator;

[0026] Step 5. Based on the particle swarm optimization method, an optimization objective function is constructed according to the expression of the angular momentum of the single frame control moment gyro system obtained by the space robot coordinated controller (see equation (12)), and the constructed optimization objective function ...

specific Embodiment approach 2

[0028] Embodiment 2: The difference between this embodiment and the first embodiment is: the formula for establishing the overall mathematical model of the space robot based on the extended Jacobian matrix in step 2 of this embodiment is:

[0029] v e ω e ω 0 = J K Θ · L cmg - - - ( 1 )

[0030] Where J K Is to extend the Jacobian matrix, v e Is the terminal linear velocity of the space robot, ω e Is the end angular velocity of the space robot, ω 0 Is the rotational angular velocity of the carrier satellite, Is the space robot joint angular velocity command, L cmg Is the angular momentum of the single-frame control moment gyro system; extended Jacobian matrix J K Available intermediate variable J g_v , J g_ω , K l_v , K l_ω , J bm_ω And K bl_ω Denoted as a block matrix, let

[0031] J K = J g _ v K l _ v J g _ ω K l _ ω ...

specific Embodiment approach 3

[0050] Specific embodiment 3: The difference between this embodiment and specific embodiment 1 or 2 is: the use of Moore-Penrose pseudo-inverse solution method described in step 3 of this embodiment to design a space robot's star-arm coordinated controller is:

[0051] Θ · L cmg = J K * v e ω e ω 0 - - - ( 6 )

[0052] among them Is the pseudo-inverse of the extended Jacobian matrix

[0053] J K * = J K T ( J K J K T ) - 1

[0054] For J K The transposition.

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Abstract

The invention discloses a method for coordination control over satellite arms of a space robot based on an expanded Jacobian matrix. The method achieves integrated coordination control over a space manipulator operating in orbit and a base satellite. The method comprises the steps of computing kinetic parameters and dynamic parameters of the space robot, establishing a mathematical model of the space motor based on the expanded Jacobian matrix, designing a coordination controller of the satellite arms of the space robot, conducting parameterization on the trajectory of the tail end of the manipulator, optimizing the trajectory of the manipulator, and computing an angular velocity instruction of a single gimbal control moment gyro system of the space robot. According to the method, hysteretic feedback control conducted by a satellite according to attitude measurement is not needed, overall mathematical modeling is conducted on the coupled motion of the satellite arms, the angular velocity instruction of the single gimbal control moment gyro system is directly computed according to the input trajectory of the tail end of the manipulator, the single gimbal control moment gyro system is used for compensation, needed by the satellite, for manipulator motion, and then overall coordination control over the satellite arms is realized; the trajectory of the tail end of the manipulator is optimized, so that the energy consumed by a satellite state control system for compensating for the restoring torque of the manipulator is small.

Description

Technical field [0001] The invention relates to a coordinated control method for a space robot star arm. Background technique [0002] A practical problem faced by space robots when performing space tasks is that the movement of any space manipulator arm will change the position and attitude of the carrier satellite, and the change of the position and attitude of the carrier satellite will in turn affect the positioning of the space manipulator arm, and also enlarge the space. The positioning error of the end manipulator of the manipulator is not conducive to the high-precision control of the space manipulator. In order to meet the actual needs of ground communication and the orientation of solar panels during the working process of space robots, it is often required that the attitude of the carrier satellite should be stable while the robot arm moves. Nowadays, with the development of scientific applications such as space on-orbit maintenance and deep space exploration, there i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 刘宏王滨李振宇夏进军王志超
Owner HARBIN INST OF TECH
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