A Compliant and Coordinated Control Method for the On-orbit Capture Process of a Space Robot

Abstract

The invention discloses a compliant and coordinated control method for the in-orbit capturing process of a space robot. The compliant and coordinated control method includes the steps that a space robot model oriented to control is established according to dynamics and kinematics equations; a mechanical arm compliant capturing control rule is established according to the space robot model oriented to control; a base posture control rule based on a base gas spraying device is determined; a mechanical arm compliant control loop is established according to the mechanical arm compliant capturing control rule; a base posture control loop is established according to the base posture control rule and a PSR pulse modulator; the control amounts calculated by the mechanical arm compliant control loop and the base posture control loop serve as the control input of a mechanical arm of a space robot system and the control input of the base gas spraying device of the space robot system correspondingly; and meanwhile control force of the base serves as a feed-forward item and is input into the mechanical arm control rule to offset the interference of base control to mechanical arm tail end compliant control. By means of the compliant and coordinated control method, stability of the base is ensured while a target is stably captured.

Description

technical field [0001] The invention belongs to the field of space technology, and in particular relates to a compliant and coordinated control method for a space robot in an on-orbit capture process. Background technique [0002] In-orbit maintenance of faulty spacecraft, rescue of failed satellites, slow recovery of abandoned satellites, etc. have become practical problems faced and to be solved in the development of aerospace technology, and unmanned space robots are one of the key technologies to solve these problems. Since the faulty spacecraft generally does not have a special cooperation mechanism and is often in a spinning or rolling state, the rendezvous and docking / capture technology for such non-cooperative targets is an important direction for the development of autonomous on-orbit services in the future. [0003] One of the most important phases of a space manipulation mission is the contact-collision phase. When capturing loads with high angular velocity and l...

AI Technical Summary

Problems solved by technology

These current methods mainly focus on the uncontrolled free-floating mode of the base, ignoring the complex contact and collision process of the capture process, and are only suitable for short-term capture processes. If the time is too long, it will lead to the singularity of the robotic arm and the attitude of the base. Large-scale changes, but unable to meet the needs of communication equipment for orientation to the ground and solar wings for orientation to the sun

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