Establishing and interference early warning method for auxiliary assembly safety working space of spacecraft mechanical arm

Abstract

The invention discloses an establishing and interference early warning method for an auxiliary assembly safety working space of a spacecraft mechanical arm. The method comprises the steps that three-dimensional models of the mechanical arm, a product to be assembled and other related objects in the working environment are led in the virtual environment of a control system, wherein the three-dimensional models are consistent with material objects in boundary dimension; the relative position and the relative posture of the mechanical arm and the product to be assembled are measured in practical, and the relative position and the relative posture of the mechanical arm and the product to be assembled in the virtual environment are correspondingly set according to the measurement value, and the relative position and the relative posture of the mechanical arm and the product to be assembled in the virtual environment are made to be consistent with the actual measurement result; the control system monitors the movement state of the mechanical arm in real time, the mechanical arm tracks and reflects the movement of a real mechanical arm in real time in the virtual environment, and whether the mechanical arm and the attached objects of the mechanical arm reach the boundary of the safety working space or not is judged through interference checking via the three-dimensional models in the virtual environment.

Description

technical field [0001] The invention belongs to the technical field of manipulator control, and in particular relates to a method for establishing a safe working space for auxiliary assembly of a manipulator of a spacecraft and an interference early warning method. Background technique [0002] The robotic arm is an automatic control device that mimics the functions of the human arm and can complete various tasks. It is connected by multiple joints and can receive instructions and accurately locate points in three-dimensional space or two-dimensional planes for operations. The mechanical arm has a large load-bearing capacity and good rigidity. It moves according to the received instructions. It usually does not have the ability to sensitively detect and respond to collisions with the outside world. In the existing robotic arm products, the joint motor current is usually used to detect the collision between the robotic arm and the outside world. When the current value is high...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a method for establishing a safe working space for the auxiliary assembly of a spacecraft manipulator and an interference early warning method to solve the problem of interference early warning during the assembly process of aerospace products using a manipulator and to ensure the safety of spacecraft products

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