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A Coordinated Motion Control Method for Space Dual Manipulator System

A space manipulator, dual manipulator technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of not taking into account the coordination relationship between the manipulator and the satellite body, and high tracking errors, and achieve high control accuracy and stability. , fast tracking speed, high precision fast tracking effect

Active Publication Date: 2019-10-22
黑龙江省工研院资产经营管理有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0031] The purpose of the present invention is to solve the shortcoming that there is no space manipulator system for dual manipulators at present, and the existing space manipulator system does not take into account the coordination relationship between the manipulator and the satellite body, and the tracking error is relatively high. A motion coordination control method for a space dual manipulator system is proposed

Method used

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  • A Coordinated Motion Control Method for Space Dual Manipulator System
  • A Coordinated Motion Control Method for Space Dual Manipulator System
  • A Coordinated Motion Control Method for Space Dual Manipulator System

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specific Embodiment approach 1

[0150] Embodiment 1: In the weightless space environment, the kinematics and dynamics of the space manipulator are quite different from those of the ground manipulator. Therefore, it is necessary to re-establish the kinematics and dynamics equations of the space manipulator from the principles of mechanics. This patent uses the momentum conservation and Lagrangian equations of the space dual manipulator system to derive the kinematics equation and dynamics equation of the space dual manipulator system in the free flight state. Secondly, the trajectory planning problem of the space manipulator system is studied with the space dual manipulator system grasping a relatively stationary object as the goal. Through the point-to-point trajectory planning of the end of the manipulator, the motion trajectory of the manipulator is approximated by the quintic polynomial, the coefficients of the quintic polynomial are simplified by constraints, and the coefficients are iteratively solved by...

specific Embodiment approach 2

[0379] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is:

[0380] Step one specifically includes:

[0381] Step 11. Establish the kinematic equation of the space dual manipulator system according to the following formula:

[0382]

[0383] in, k represents the kth robotic arm, and k is 1 or 2;

[0384]

[0385] is the mass of the i-th connecting rod of the k-th robotic arm; k i k means J i k The unit vector of the direction of rotation, J i k is the joint connecting the i-1th link and the i-th link in the kth robotic arm; p i k Indicates the joint J i k The position vector of ; Θ k is the joint angle vector of the kth robotic arm;

[0386] Step 12. Establish the dynamic equation of the space dual manipulator system according to the following formula:

[0387]

[0388] where M(q) is the generalized inertia tensor of the manipulator, is the nonlinear moment related to the manipul...

specific Embodiment approach 3

[0390] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is:

[0391] Step two specifically includes:

[0392] Step 21. Obtain the initial state of the end of the space manipulator final state and the desired state

[0393] Step 22. Assume that there exists t such that:

[0394]

[0395]

[0396] in, are the joint angle, angular velocity and angular acceleration of the kth robotic arm, respectively; with respectively The lower and upper limit values ​​of , with respectively the lower and upper limits of the with respectively The lower and upper limit values ​​of ; t 0 is the initial time of trajectory planning, tf is the end time of trajectory planning;

[0397] The joint function is parameterized using a quintic polynomial as follows:

[0398]

[0399]

[0400] is the parameter to be solved;

[0401] Step two and three, command Find the solution of the system of equations F(c)=0...

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Abstract

The invention relates to a motion coordination control method for a space dual-manipulator system, and belongs to the technical field of space manipulators. In order to overcome the defects that no space manipulator system specific to dual manipulators exists at present, the coordinated relation between a manipulator and a satellite body is not considered in an existing space manipulator system and tracking errors are high, the motion coordination control method for the space dual-manipulator system is provided. The motion coordination control method for the space dual-manipulator system includes the steps that a kinematical equation and kinetic equation of the space dual-manipulator system are established; the space dual-manipulator system is subjected to trajectory planning according to the initial postures and tail-end postures of the manipulators; and trajectories of the space dual-manipulator system are subjected to tracking control through a PD controller. The motion coordination control method for the space dual-manipulator system is suitable for a space manipulator control system.

Description

technical field [0001] The invention relates to a motion coordination control method for a space dual manipulator system, belonging to the technical field of space manipulators. Background technique [0002] The development of aerospace science and technology has greatly changed human life. The application field of space technology has been rapidly expanded in the past one or two decades. It also puts forward new requirements and tasks for space technology. Among them, the on-orbit operation of space targets and the rendezvous and docking technology are being widely valued by various countries due to their potential value in the military and civilian fields. [1] . Operate space cooperative / non-cooperative targets by using the space manipulator system, including on-orbit capture, component replacement, fuel filling, etc. Operations such as boosting and de-orbiting can greatly prolong the service life of satellites and greatly save the development cost of satellites, so they...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
Inventor 李传江陈亮名邱爽张米令杜晔孙延超
Owner 黑龙江省工研院资产经营管理有限公司
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