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Stable climbing control method for robot astronaut

A control method and astronaut's technology, which is applied in the direction of program control of manipulators, instruments, manipulators, etc., can solve problems such as disturbance, joint impact, robot astronaut climbing impact, etc.

Active Publication Date: 2016-09-28
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

On the one hand, due to the error of robot astronaut movement (including mechanism deformation and control error, etc.), the error will generate unpredictable internal force in the closed-chain space; on the other hand, the contact force between the arms and the armrest and the expected force different, would have impact on robotic astronauts climbing
In the microgravity environment, the disputed forces formed by these two forces in the closed chain will produce complex disturbances in the robot astronaut's movement, and will also have a large impact on the joints

Method used

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  • Stable climbing control method for robot astronaut
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  • Stable climbing control method for robot astronaut

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Embodiment Construction

[0056] refer to figure 1 , a robot astronaut capable of stably climbing in a space station cabin and a robot astronaut stable climbing control method, the robot astronaut has two arms, a torso, a robot astronaut end effector, and a control system; the two arms It also includes an elbow joint, a wrist joint, a driving mechanism, and a six-dimensional force / torque sensor, and is connected to the end effector and the torso of the robot astronaut through the wrist and shoulder joints; the control system will be composed of arms, torso , and the rigid closed-chain system composed of the object to be grasped is decoupled into two open-chain mechanical arms, and position control and impedance compliance control are respectively adopted for the open-chain mechanical arms.

[0057] The end effector of the robot astronaut is a manipulator; the object to be grasped is an armrest. The six-dimensional force / torque sensor is used to detect the interaction force / torque between the end effec...

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Abstract

The invention provides a stable climbing control method for a robot astronaut. According to the stable climbing control method for the robot astronaut, a rigid closed-chain system composed of two arms, a trunk and handles of the robot astronaut is decoupled into two open-chain mechanical arms, and position control and impedance smoothness control are conducted on the mechanical arms of the open chain, so that the conflicting force formed in a closed chain when an end actuator of the robot astronaut holds the handles at the same time is reduced, and the climbing stability of the robot astronaut in a space station cabin is greatly improved.

Description

technical field [0001] The invention relates to a stable climbing control method for robot astronauts, which is suitable for stable climbing of dual-arm robot astronauts in the microgravity environment of a space station. Background technique [0002] In order to reduce the work intensity and safety risks of astronauts in the maintenance and operation of the space station, and save time and economic costs, robot astronauts have become an inevitable choice for the space station to assist or replace astronauts. Because the space station is in a microgravity environment and its internal structure is complex, this requires robotic astronauts to have significantly different control methods from ground robotic astronaut systems. [0003] During the climbing motion of the robotic astronaut on the space station, the end effectors of the two arms of the robotic astronaut grasp the motion handrails simultaneously, forming a closed chain. On the one hand, due to the error of the robot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06F17/50
CPCB25J9/1679G06F30/20
Inventor 蒋志宏李辉魏博莫洋黄强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY