A Method of Restraining Spacecraft Base Attitude Disturbance Using Manipulator

Abstract

The invention discloses a method using a mechanical arm to inhibit the attitude interference of a spacecraft pedestal. The method comprises the following steps that a many-body dynamic model is established according to configuration of a space robot, and a momentum conservation problem of the mechanical arm, an antenna and the pedestal is analyzed on the basis of the model; a track of the spatialmechanical arm is designed by considering the task priority on the basis of a dynamic balance control and zero-reaction space theory, so as to coordinate a tail-end executor task of the spatial mechanical arm and inhibit an attitude interference task of the satellite pedestal; and on the basis of the analysis, closed-loop inverse kinetic control of the spatial mechanical arm is designed, and the problem that error accumulation is increased gradually in pedestal attitude inhibition is solved. Concepts of dynamic balance control and zero reaction space are combined, and the track of the kineticredundancy mechanical arm is constructed to inhibit aircraft pedestal attitude interference caused by other rotation mechanisms.

Description

technical field [0001] The invention belongs to the technical field of trajectory planning of a space robot, and in particular relates to a method for suppressing attitude interference of a spacecraft base by using a mechanical arm. Background technique [0002] So far, fully autonomous space on-orbit service tasks, such as satellite repair, on-orbit assembly, debris removal, etc., have not been realized. Due to its versatility and scalability, the space manipulator has become an excellent means to achieve on-orbit services. For the spacecraft performing on-orbit service missions, it not only has rotating mechanisms such as mechanical arms, but also has rotating mechanisms such as antennas and solar panels. Therefore, an on-orbit servicing spacecraft is a complex multi-body system. When the antenna and solar panels rotate, it will inevitably cause attitude interference to the spacecraft body. It is very important to use the movement of the mechanical arm to eliminate these...

AI Technical Summary

Problems solved by technology

[0004] Although the above-mentioned motion planning methods for space free-floating robots can achieve the task goal of minimum base attitude interference, they generally only consider the spacecraft with a single robotic arm or two identical robotic arms.

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