Ground-based simulation system for space robot visual servo to capture moving target and simulation method

A space robot and ground simulation technology, applied in the field of space robots, can solve the problem of unable to simulate the capture of moving target satellites, etc.

Active Publication Date: 2014-07-16
HARBIN INST OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the current ground test system for space robot target capture cannot simulate the situation of space robot visual servoing capturing moving target satellites in three-dimensional space, and to provide a ground simulation system for space robot visual servoing capturing moving targets and simulation method

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  • Ground-based simulation system for space robot visual servo to capture moving target and simulation method
  • Ground-based simulation system for space robot visual servo to capture moving target and simulation method
  • Ground-based simulation system for space robot visual servo to capture moving target and simulation method

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specific Embodiment approach 1

[0030] Specific embodiment one: combination Figure 1 to Figure 4 To illustrate this embodiment, the ground simulation system for space robot visual servo capture of moving targets described in this embodiment includes the No. 1 industrial robot 3, the No. 2 industrial robot 4, motion control and space robot end kinematics equivalent computer 5, motion control Kinematics equivalent computer 6, dynamics computer 7, space robot joint electric simulator 8 and central controller 9 with the target satellite handle;

[0031] The first industrial robot 3 is used to simulate the movement of the end of the space manipulator of the service satellite 1 with a floating base; the second industrial robot 4 is used to simulate the movement of the target satellite 2, and the second industrial robot 4 is equipped with a target satellite A simulator 4-3, the target satellite simulator 4-3 is located between the mechanical arm of the industrial robot 4 and the visual target 4-2;

[0032] The relative...

specific Embodiment approach 2

[0043] Specific implementation manner two: combination Figure 2 to Figure 4 To illustrate this embodiment, this embodiment is a further limitation to the ground simulation system for space robot visual servo capturing moving targets described in Embodiment 1. In this embodiment, the dynamics computer 7 communicates via TCP / IP network. Data transmission is performed between the motion control and space robot terminal kinematics equivalent computer 5 and the motion control and target satellite handle kinematics equivalent computer 6.

[0044] In this embodiment, the simulation part of the ground industrial robot adopts the TCP / IP network communication mode to ensure the real-time performance of the system.

specific Embodiment approach 3

[0045] Specific implementation mode three: combination image 3 To illustrate this embodiment, this embodiment is a further limitation to the ground simulation system of the space robot's visual servo capture of moving targets described in the first embodiment. In this embodiment, the motion control and the end kinematics of the space robot are equivalent to a computer 5 Embedded with the space robot terminal equivalent conversion module and the No. 1 industrial robot controller realized by software.

[0046] In this embodiment, the dynamics computer 7 calculates the base pose and joint angle information of the space robot according to the control torque of the space robot, and sends the base pose and joint angle information to the motion control and end motion of the space robot through the TCP / IP protocol. Learn the equivalent conversion module of the end of the space robot in the equivalent computer 5. The end equivalent conversion module of the space robot first obtains the po...

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Abstract

The invention provides a ground-based simulation system for a space robot visual servo to capture a moving target and a simulation method and relates to the ground verification technology that the space robot visual servo captures the moving target in space. The ground-based simulation system for the space robot visual servo to capture the moving target and the simulation method aim at solving the problem that an existing ground testing system can not simulate the situation that the space robot visual servo captures a moving target satellite in a three-dimensional space. The method includes the steps of obtaining joint movement information according to the relative pose relation between a capture paw and a capture handle, obtaining control moments of all joints according to the joint movement information, calculating base pose information and joint angle information, calculating the base pose information and the joint angle information to obtain equivalent industrial robot joint angle instructions and then controlling a first industrial robot. The ground-based simulation system can be used for simulating the process that the space robot visual servo captures the moving target in the three-dimensional space and base disturbance conditions, and verifying the reliability of a route planning algorithm of the space robot visual servo. The ground-based simulation system is applicable to ground verification of the space robot visual servo to capture the moving target.

Description

Technical field [0001] The invention relates to a ground verification technology for space robot visual servoing to capture moving targets, and belongs to the technical field of space robots. Background technique [0002] In order to ensure the success of the mission in orbit, the space robot must conduct sufficient ground experiments to verify and evaluate the path planning and visual servo tracking control algorithm of the space robot's target capture before launch. Therefore, the ground test of the space robot target acquisition is an important part of the whole space robot system test task. There are currently five main categories of space robot ground experimental systems: air-floating platform experimental systems, water-floating experimental systems, hanging wire counterweight experimental systems, experimental systems based on parabolic or free fall motion, and hybrid simulation experimental systems. [0003] However, the water floatation experiment system, the hanging wir...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
Inventor 杨海涛谢宗武张禹金明河刘宏
Owner HARBIN INST OF TECH
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