Single-joint fault space manipulator pose reaching space solving method

A space manipulator, fault space technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that the degraded workspace does not have terminal attitude accessibility, the space manipulator cannot complete tasks, and affects the space operation of the space manipulator. tasks, etc.

Active Publication Date: 2018-01-19
BEIJING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

[0003] The space manipulator usually performs the space operation task after the joint fault is locked based on the degenerated workspace. The volume of the degenerated workspace is affected by the locking angle of the faulty joint. When the faulty joint is locked to some special angle, the serious degradation of the workspace m...

Method used

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  • Single-joint fault space manipulator pose reaching space solving method
  • Single-joint fault space manipulator pose reaching space solving method
  • Single-joint fault space manipulator pose reaching space solving method

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Experimental program
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Embodiment Construction

[0065] 1. Establish the kinematics model of the seven-degree-of-freedom space manipulator as follows: figure 2 The corresponding D-H parameters are shown in Table 1.

[0066] Table 1 D-H parameters corresponding to the initial configuration of the seven-degree-of-freedom space manipulator

[0067]

[0068] 2. Solve the artificial limit of each joint of the space manipulator based on the Newton-Raphson method, let υ = 1°, take and The trade-off threshold ζ=40%; the initial artificial limit of each joint of the space manipulator is the corresponding physical limit Then, based on the Monte Carlo method, by generating N=200,000 space scattered points, the degenerated workspace volume of the space manipulator when each joint is locked at different angles can be obtained Furthermore, the initial solution of the artificial limit of each joint can be completed through formula (6), and the iterative solution is continued based on the initial solution result until the value o...

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Abstract

The invention provides a single-joint fault space manipulator pose reaching space solving method for realizing quantitative analysis of space manipulator reaching pose degradation conditions after locking of any joint faults. The method comprises the following steps: the manual limiting solution is performed on space manipulator degradation working space locked by single-joint faults based on joints; gesture reaching degree indexes are built to solve space manipulator anticipant gestures facing tasks; the anticipant gestures and all scattering coordinates in the degradation working space are synthesized to build manipulator terminal pose sets; and poses with inverse solutions are screened to obtain the space manipulator pose reaching space with single joint faults. The method can realize solution of the space manipulator pose reaching space locked by any joint faults.

Description

【Technical field】 [0001] The invention relates to a single-joint fault space manipulator pose reachable space solution method, which belongs to the technical field of space manipulator fault-tolerant control. 【Background technique】 [0002] With the continuous deepening of human exploration of space, space manipulators with the characteristics of large span, flexible operation, and strong load capacity have become more and more widely used. However, the harsh working environment and the complex joint structure increase the probability of joint failure of space manipulators that have been in service for a long time. After joint failure, the manipulator can still perform on-orbit unloaded / loaded operations while considering the reachable end position and attitude, which plays a vital role in the high-quality completion of space exploration missions. Therefore, carrying out related research on the pose accessibility of the end of the space manipulator with joint failure has gr...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 贾庆轩王宣陈钢袁博楠符颖卓郭雯
Owner BEIJING UNIV OF POSTS & TELECOMM
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