Method for achieving target capturing stability of space robot under continuous collision conditions

A technology of space robot and stabilization method, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as damage to the space robot of the catcher, unstable collision during the capture process, collision between the target and the catcher, etc., to achieve The effect of capturing, improving stability margin, and optimizing output distribution

Inactive Publication Date: 2018-12-04
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

During the target capture process, the robot and the target have relative linear velocity and relative angular velocity due to the influence of target measurement and tracking error in the initial stage of capture, which will cause the target to collide with the end grabber of the robot, because the grabber Due to the unique mechanical ...

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  • Method for achieving target capturing stability of space robot under continuous collision conditions
  • Method for achieving target capturing stability of space robot under continuous collision conditions
  • Method for achieving target capturing stability of space robot under continuous collision conditions

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Embodiment Construction

[0057] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0058] The technical scheme adopted in the present invention comprises the following steps:

[0059] 1) According to the design of the catcher, a continuous collision dynamics model based on the Kelvin model is established;

[0060] 2) Establish the composite spacecraft dynamics model of the space robot and the target;

[0061] 3) Design an improved SDRE control method to increase the stability threshold of the system;

[0062] 4) The torque redistribution is controlled by the reaction wheel of the space robot to achieve stability after the target is captured.

[0063] In said step 1), the specific steps for calculating the continuous collision dynamics model are as follows:

[0064] 1-1): capture process and collision analysis

[0065] When the end effector of the space robot captures the target, it will inevitably contact and collide with the target, and th...

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Abstract

The invention relates to a method for achieving target capturing stability of a space robot under continuous collision conditions. A method of changing the closed-loop pole of a system is adopted, thestability margin of the system is improved, and it is guaranteed that the control system can still keep stable under the condition that the control system suffers from short-time repeated impacting.A pseudo-inverse based control moment distribution method is adopted, the advantages that output distribution optimization is achieved, the output quantity is smooth, and the output quantity is achieved under any conditions are achieved, and the dynamic performance of the system is effectively improved. The method can be widely applied to a target capturing and stabilization control method of thespace mechanical arm robot, the method can achieve target capturing stability under the continuous collision conditions and reduce the requirement for the thrust of a thruster, fuel consumption can bereduced, capturing of the space mechanical arm robot on targets can be effectively reduced, and the capturing process is safe and reliable.

Description

technical field [0001] The invention belongs to the research field of spacecraft control technology, and relates to a method for capturing and stabilizing a space robot target under continuous collision conditions, in particular to a deviation dynamics and a method for forming a complex between a space manipulator robot and a target under continuous collision conditions. Stable control method. Background technique [0002] Due to its flexibility, safety, and low fuel consumption, space robots have a wide range of roles in space on-orbit services, and can perform operations such as rescue of failed satellites, space junk cleaning, and auxiliary orbit changes. The space manipulator robot is a kind of space robot, which has a large working space and dexterous operation performance. [0003] According to the task flow of the space robot, it can be divided into five stages: release, approaching the target, target capture, target stabilization after target capture, and target cap...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1679
Inventor 黄攀峰韩冬刘正雄董刚奇孟中杰张夷斋张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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