Operation method for unscrewing screws with human-machine cooperation by utilizing space manipulator operation system

Abstract

The invention provides an operation method for unscrewing screws with human-machine cooperation by utilizing a space manipulator operation system, and belongs to the technical field of space manipulator operation. The problems that an existing robot cannot be aligned with and insert screws, and screwing operation is hard to complete are solved. The operation method comprises two work links, wherein the first link is that an astronaut holding an electric hand drill demonstrates screwing at the position of an operated screw, and the second link is that a manipulator autonomously hold the electric hand drill to screw the operated screw. The astronaut demonstrates screwing at the operation position of the operated screw off-line, the astronaut holds the electric hand drill and places the electric hand drill at the position of the operated screw, and a global camera measures the position of the electric hand drill. The manipulator autonomously holds the electric hand drill to screw the screw, the global camera measures the posture of the electric hand drill, the manipulator is driven to move in real time through visual, and the manipulator submissively controls the electric hand drill in the process that the electric hand drill is inserted into the screw. The problems of electric tool holding posture control, precise aligning of the operated screw and submissive control over the manipulator in the operating process are solved.

Description

technical field [0001] The invention relates to a method for loosening a screw by a man-machine cooperative space manipulator, belonging to the technical field of space manipulator operation. Background technique [0002] In the past thirty years, with the continuous increase of space activities and space facilities in the fields of space laboratories, space stations, lunar exploration and deep space exploration and development, space robots have developed rapidly and played an increasingly important role. role. Large-scale manipulators for space station applications, such as the Canadian space shuttle manipulator, the International Space Station manipulator, and the Japanese space station manipulator, use space robots to complete the on-orbit handling and assembly of large equipment, which greatly improves the construction and operation of space facilities. Efficiency. In order to ensure the reliable operation of space facilities and prolong the on-orbit life, the capture,...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to propose a human-machine cooperative screw loosening operation method using the space manipulator operating system to solve the problem that the existing space robots are difficult to control the grasping posture of the electric tool, the precise alignment of the screw, and the manipulator during the operation process. problems such as soft control

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