Method for calculating end contact collision force of spatial robot

Abstract

The invention discloses a method for calculating end contact collision force of a spatial robot. The method comprises the following steps of simplifying mechanical design three-dimensional CAD modelsof a capture apparatus and a captured apparatus; performing feature geometric element extraction on built triangular plate element models of the capture apparatus and the captured apparatus; accordingto geometric feature models of the capture apparatus and the captured apparatus, obtaining collision point positions and embedding depth quantities of the capture apparatus and the captured apparatus; building collision models of the capture apparatus and the captured apparatus; through a collision embedding quantity and a collision embedding speed, obtaining collision force; through a tangentialspeed of the collision embedding speed, the collision force and a frictional coefficient, obtaining contact frictional force; and in combination with the collision force and the contact frictional force, obtaining a collision force model. For an irregular target geometric configuration, an efficient collision detection method for simplifying geometric features is provided, and support is providedfor simulative verification work of manipulator joint bearing and capture control schemes.

Description

technical field [0001] The invention belongs to the field of on-orbit repair and maintenance of space robots, and relates to a calculation method for contact collision force at the end of a space robot, which is suitable for capturing operations on space non-cooperative targets such as space faulty satellites and large debris. Background technique [0002] During the capture process of the target star-rocket docking ring by the clamping tool at the end of the space robot, the clamping tool and the star-rocket docking ring will inevitably collide and impact, and the two bodies will show sliding friction, rigid collision and separation during the collision process. A variety of motion forms make the dynamic behavior in the capture process more complicated, and also affect the success or failure of the capture task. On the other hand, direct collisions will cause damage to the robotic arm or the target. For time-limited high-quality operation control, the contact force informat...

AI Technical Summary

Problems solved by technology

[0002] During the capture process of the target star-rocket docking ring by the clamping tool at the end of the space robot, the clamping tool and the star-rocket docking ring will inevitably collide and impact, and the two bodies will show sliding friction, rigid collision and separation during the collision process. A variety of motion forms make the dynamic behavior in the capture process more complicated, and also affect the success or failure of the capture task

On the other hand, a direct collision will cause damage to the robotic arm or the target. For time-limited high-quality operation control, the information of the contact force must be introduced into the closed control loop, so that the contact force can be controlled within the allowable range to complete compliant capture.

At present, ground tests are used to obtain the collision information of the two. First, the complexity of the test is high, and second, the repeatability of the test is poor.

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