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

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...

AI Technical Summary

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 the space manipulator in the design process of the conventional space manipulator control system, a dual quaternion based modeling and Controlled three-joint space manipulator system

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