Dual quaternion modeling and control-based three-joint space manipulator system

A dual quaternion, space manipulator technology, applied in attitude control, control using feedback, etc., can solve the problems of complex kinematics and dynamics modeling, high failure probability, low control accuracy, etc., to achieve kinematics and dynamics. The effect of simple dynamics equations, increased degrees of freedom, and simple controller equations

Active Publication Date: 2016-01-27
SHANGHAI XINYUE METER FACTORY
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Problems solved by technology

[0003] In order to solve the problems of complex kinematics and dynamics modeling, low control precision, poor operability and high failure probability during the working process of

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  • Dual quaternion modeling and control-based three-joint space manipulator system
  • Dual quaternion modeling and control-based three-joint space manipulator system
  • Dual quaternion modeling and control-based three-joint space manipulator system

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[0031] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be pointed out that for those of ordinary skill in the art, a number of modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0032] Such as Figure 1-3 As shown, the embodiment of the present invention provides a three-joint space manipulator system based on dual quaternion modeling and control, including

[0033] Ultrasonic detectors are used for ultrasonic detection of spacecraft to determine the location of faulty parts;

[0034] The visual sensor 2 installed on the spacecraft is used to take pictures of the malfunctioning parts of the spacecraft and transmit the taken pictures to the onboard com...

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Abstract

The invention discloses a dual quaternion modeling and control-based three-joint space manipulator system. The dual quaternion modeling and control-based three-joint space manipulator system includes an ultrasonic detector, a visual sensor mounted on a spacecraft, a spaceborne computer, an A/D conversion circuit, a voltage boosting circuit, a motor, an interface A, an interface B and a display computer. According to the dual quaternion modeling and control-based three-joint space manipulator system of the invention, dual quaternion is adopted to perform kinematics and dynamics modeling on the manipulator system, and kinematics and dynamics equations are simpler; dual quaternion is adopted to perform control system design corresponding to the kinematics and dynamics equations of the manipulator system, and therefore, a controller can be simper, and control accuracy is not decreased; since the kinematics, dynamics and control system models are simpler, the degree of freedom of the manipulator system of the invention is higher than that of a conventional manipulator. The manipulator designed in the invention is a degree-of-freedom system.

Description

Technical field [0001] The invention relates to the field of space work and exploration research, in particular to a three-joint space manipulator system based on dual quaternion modeling and control. Background technique [0002] With the development of aerospace technology, the use of spacecraft has become more extensive, and consequently, the failure of spacecraft frequently occurs, which puts forward higher requirements for the self-repair function of spacecraft. Usually, the maintenance of spacecraft is through Completed by its own robotic arm. At the same time, the data collection work of the space robot, such as the soil sampling of the lunar rover, also requires a robotic arm to complete. However, the kinematics and dynamics modeling methods adopted by conventional space manipulators are complex, and the control system accuracy is not high, which increases the probability of failure of the manipulator during the working process and complicated operations. Summary of the...

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Application Information

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IPC IPC(8): G05D3/12G05D1/08
Inventor 孙俊宋婷孙裙军
Owner SHANGHAI XINYUE METER FACTORY
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