Space robot base decoupling control method for target operation

Abstract

The invention provides a space robot base decoupling control method for target operation. In a condition of ignoring the mass inertia of a mechanical arm itself, a space robot system model for target operation is built; through the movement information of the operation target, analysis formulas for various disturbance torques on the base in the case of target operation are built; the disturbance is compensated through a feedback controller; and thus, decoupling control on the base is realized. Compared with the traditional decoupling control, the decoupling control of the invention does not need a torque sensor, disturbance compensation is used for realizing the control performance equivalent to the controller integrated with the base, the mechanical arm and the operation target, and the method is particularly applied to actual conditions in which the base, the mechanical arm and the operation target are researched by different research units in practical engineering.

Description

technical field [0001] The invention relates to a decoupling control method for a space robot base aimed at target operation, and belongs to the field of spacecraft attitude control. Background technique [0002] Space robots are multi-body systems whose dynamic models are very complex, involving the coupling between the base, the manipulation target, and the robotic arm connecting the two. [0003] At present, the control methods of the space robot for target manipulation are mainly divided into two schemes. The first one is to regard the space robot as a whole, and carry out a unified controller design for the base, the manipulator, and the operation target, and perform coupling control, that is, An integrated controller design is required for them, and the central control computer collects the information of the three in a unified manner, and then performs unified control. This kind of controller is based on a high-dimensional model, and the designed controller has high d...

AI Technical Summary

Problems solved by technology

[0003] At present, the control methods of the space robot for target manipulation are mainly divided into two schemes. The first one is to regard the space robot as a whole, and carry out a unified controller design for the base, the manipulator, and the operation target, and perform coupling control, that is, An integrated controller design is required for them, and the central control computer collects the information of the three in a unified manner, and then performs unified control. This kind of controller is based on a high-dimensional model, and the designed controller has high dimensions and complex calculations; another The first is a decoupling controller. A six-dimensional force sensor is installed at the root of the manipulator. By measuring the disturbance torque when the manipulator operates the target in real time, the disturbance torque is fed forward and initially compensated in the controller of the base. This method controller The form is simple, the base is decoupled from the control of the manipulator and the operation target, the controller is simple, and the amount of calculation is small, but it needs to be equipped with a six-dimensional force sensor, and the torque measurement accuracy is required to be high, otherwise the system control accuracy is poor

The above two solutions have their own advantages and disadvantages. The former does not need to be equipped with a high-precision torque sensor, but has a large amount of calculation and a complicated controller; the latter has a small amount of calculation and a simple controller, but requires a high-precision torque sensor

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