Dynamic scaling planning method for floating base and mechanical arm in neutral buoyancy test

Abstract

A dynamic scaling planning method for a floating base and a mechanical arm in a neutral buoyancy test comprises the following steps of I, setting a trajectory of an executor at the tail end of the mechanical arm in a pond coordinate system, inserting a path point sequence in the trajectory, and dividing the trajectory into n sections for execution; II, establishing n third-order polynomial equations, and calculating path points into a corresponding joint variable q(t); III, solving a calibration factor; and IV, solving the recalibrated mechanical arm, and respectively solving dynamic scaling of the trajectory in each section of joint space trajectory through the same rule to form a plurality of new trajectories. According to the dynamic scaling planning method for the floating base and the mechanical arm in the neutral buoyancy test, through dynamic time calibration for the motion trajectory, new joint angular speed and angular acceleration of the mechanical arm are formed, thus, inertia forces and environmental forces of the mechanical arm are changed so that the stability of positions and postures of the base is realized by the planning method which cannot keep the stability of positions and postures of the base originally.

Description

technical field [0001] The invention relates to the field of space microgravity simulation, in particular to a dynamic scale planning method for a floating base and a mechanical arm in a neutral buoyancy experiment, which keeps the posture of the base stable by changing the inertial force and environmental force of the mechanical arm. Background technique [0002] Neutral buoyancy experiment is a new research method in aerospace field. The so-called neutral buoyancy means that when an object is in a liquid, if the density of the object is the same as that of the liquid, the object can be suspended at any point in the liquid. The method of neutral buoyancy simulating the microgravity effect in space is also called the liquid buoyancy balance gravity method, which is to use the buoyancy of the liquid on the object to offset the gravity of the object, so that the object is in a suspended state. The published technologies include: Yuichiro Taira, Shinichi Sagara, Masahiro Oya. ...

AI Technical Summary

Problems solved by technology

However, since the movement of the robotic arm will interfere with the base, if the force and moment required for the base to maintain its pose are greater than the maximum thrust and thrust torque that the propeller can provide, then the actual position of the base in the pool coordinate system There will be a large error between the attitude orientation and the expected position and attitude orientation, which will affect the trajectory of the end effector of the manipulator in the pool coordinate system

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