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A method for capturing non-cooperative targets by space robots

A space robot and non-cooperative target technology, applied in the field of space robot control, can solve few and not extensive problems, and achieve the effect of improving the efficiency of calculation

Active Publication Date: 2020-02-18
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there are not many researches at home and abroad on the dynamics of robots with closed loops, and they mainly focus on a certain configuration of space robots, which are not extensive.

Method used

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  • A method for capturing non-cooperative targets by space robots
  • A method for capturing non-cooperative targets by space robots
  • A method for capturing non-cooperative targets by space robots

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Experimental program
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Embodiment Construction

[0028] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] The invention provides a method for a space robot to capture a non-cooperative target, the specific steps of which include:

[0030] Step 1, use topology to represent the space robot; specifically, use topological images and digital symbols to describe the connection relationship of rigid bodies in the space robot, and then build the geometric model and joint model of the space robot on this basis.

[0031] The space robot is set as a multi-arm robot; space vectors are used to represent the motion of the rigid body of the space robot and the angular motion items and line motion items of the force. One space vector can complete the work of two 3-dimensional vectors, and the space vector representation The formula can replace 2 or more 3-dimensional vector formulas; the space velocity and space force of the space robot are respectively e...

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Abstract

The invention discloses a method for capturing a non-cooperative target by virtue of a space robot. The method comprises the following steps: topologically representing the space robot, and establishing a geometric model and a joint model of the space robot; establishing an inverse dynamical model of the space robot based on a recursion Newton-Euler algorithm, establishing a positive dynamical model of the space robot based on a combination object algorithm, and establishing a dynamical model of the space robot based on a Lagrange mechanics algorithm; and forming a closed loop system by virtueof the space robot and a non-cooperative target combination object, establishing a closed loop dynamical model, and finishing the capturing of the non-cooperative target by virtue of the space robot.The combined solving of a joint variable and a mechanical arm terminal force of the space robot is realized based on a space vector and many-body dynamics and matrix theories, and the method is applicable to multiple types of opened or closed loop robot systems.

Description

technical field [0001] The invention belongs to the technical field of space robot control; in particular, it relates to a method for a space robot to capture a non-cooperative target. Background technique [0002] The space robot is a typical multi-body system, and its dynamic modeling mainly studies the relationship between the driving force and the joint motion, including inverse dynamics (determined by the joint motion condition of the driving force / torque) and positive dynamics (determined by the driving force / torque joint movement) two aspects. Among them, inverse dynamics is mainly used for feedback control, and positive dynamics is mainly used for simulation. The algorithmic complexity of the general Lagrangian equation (the number of connecting rods of the manipulator), and how to reduce the algorithmic complexity is one of the main research topics of the positive dynamics algorithm. [0003] In inverse dynamics, the first-order algorithm proposed was the Newton-E...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B64G4/00B25J9/16
Inventor 罗建军周逸群王明明袁建平朱战霞宁昕
Owner NORTHWESTERN POLYTECHNICAL UNIV
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