An excitation trajectory optimization method for dynamic parameter identification of space robot
A space robot, dynamic parameter technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as lack of theoretical support, achieve strong robustness, good engineering applicability, and improve convergence speed and accuracy. Effect
Active Publication Date: 2018-06-29
NORTHWESTERN POLYTECHNICAL UNIV
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In the literature "Modeling and experimental design for the on-orbit inertial parameter identification of free-flying space robots", the disturbance amplitude of the manipulator movement to the base of the space robot is used to measure the excitation degree of the excitation trajectory and optimize the excitation trajectory according to this index. However, the The indicator is proposed more out of an intuitive feeling, lacking accurate theoretical support
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[0071] The present invention is described in further detail below in conjunction with accompanying drawing:
[0072] see Figure 1-Figure 11 , the excitation trajectory optimization method of space robot dynamic parameter identification of the present invention is characterized in that, comprises the following steps:
[0073] Step 1: Establish parameter identification model of free-floating space robot
[0074] The space robot consists of a serial manipulator and a spacecraft platform as a base, where the manipulator is connected by n rotating joints, and all components are regarded as rigid bodies. The base spacecraft is equipped with sensors for measuring base position, attitude, linear velocity and angular velocity, and each joint of the manipulator is equipped with sensors for measuring joint position and angular velocity.
[0075] The linear velocity and angular velocity of the end effector of the space robot are uniformly expressed in matrix form as:
[0076]
[00...
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The invention discloses a motivation trajectory optimization method of space robot kinetic parameter identification; and the method can realize motivation trajectory optimization of space robot kinetic parameter identification, and can satisfy PE conditions of parameter identification and the mechanical arm joint motion restraint to improve the convergence rate and accuracy of space robot parameter identification. The incomplete characteristics of a free floating space robot determine a parameter identification model regression matrix A (k) to not only include related positions and related speed related to the mechanical arm joint motion trajectory and but also include the position, the gesture, the speed and the angular velocity of a base indirectly related to kinetic parameters to be identified; and the numbers are solved according to a system kinetic model, so that prior information of the kinetic parameters to be identified is used in offline optimization of a motivation trajectory.
Description
【Technical field】 [0001] The invention belongs to the field of space robots and relates to an excitation trajectory optimization method for dynamic parameter identification of a space robot. 【Background technique】 [0002] Space robots generally adopt model-based control methods when completing on-orbit service tasks. The control accuracy of this type of method is closely related to the accuracy of the space robot's dynamic parameters. When designing and processing a space robot, its dynamic parameters can be calculated through CAD software, and the precise dynamic parameters of its various components can also be obtained through ground testing. However, after the space robot captures the target in orbit, the dynamic parameters of the entire system will change accordingly. In order to ensure the stability of the control system and improve the control accuracy in subsequent operations, it is necessary to identify the dynamic parameters of the space robot after capturing the t...
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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 罗建军薛爽爽袁建平朱战霞马卫华王明明方群唐歌实胡松杰王保丰
Owner NORTHWESTERN POLYTECHNICAL UNIV