Three-joint space manipulator system based on dual quaternion modeling and control
A dual quaternion and space manipulator technology, applied in attitude control, control using feedback, etc., can solve problems such as complex kinematics and dynamics modeling, low control accuracy, and high failure probability, and achieve kinematics and dynamics. The learning equation is simple, the degree of freedom is improved, and the effect of the controller equation is simple
Active Publication Date: 2018-02-27
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 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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[0031] The present invention will be described in detail below with reference to 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 noted that, for those skilled in the art, several 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] like 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 to ultrasonically detect the spacecraft to determine the location of the faulty part;
[0034] The vision 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 computer;
[...
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The invention discloses a three-joint space manipulator system based on dual quaternion modeling and control, which includes an ultrasonic detector, a visual sensor installed on a spacecraft, an on-board computer, an A / D conversion circuit, and a voltage booster Electric circuit, motor, interface A and interface B and display computer. The present invention uses the dual quaternion to model the kinematics and dynamics of the manipulator system, and the kinematics and dynamics equations are simpler; corresponding to the kinematics and dynamics equations of the manipulator system, the dual quaternion is used for control System design, the controller equation is simpler, and the control accuracy will not decrease; because the kinematics, dynamics and control system model are simpler, the degree of freedom of the manipulator system of the present invention is improved compared with the conventional manipulator. The design of the present invention The robotic arm is a degree of freedom system.
Description
technical field [0001] The invention relates to the research field of space work and exploration, 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 is more extensive, and the failure of the spacecraft occurs frequently, which puts forward higher requirements for the self-repair function of the spacecraft. Usually, the maintenance of the spacecraft is performed by 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 used by conventional space manipulators are complex, and the control system precision is not high, which increases the probability of failure of the manipulator during the working process and makes the operation complex. SUMMARY OF...
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IPC IPC(8): G05D3/12G05D1/08
Inventor 孙俊宋婷孙裙军
Owner SHANGHAI XINYUE METER FACTORY