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A real-time dynamic modeling method for manipulator joints

A dynamic modeling and dynamic modeling technology, applied in instrumentation, geometric CAD, computing, etc., can solve problems such as multi-computing performance, inability to directly apply joint real-time dynamic model, cost, etc., to support real-time, half- Physical testing and verification, the effect of removing hardware logic computing requirements

Active Publication Date: 2019-08-13
BEIJING INST OF SPACECRAFT SYST ENG
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Problems solved by technology

[0007] However, due to the obvious nonlinear characteristics of the stiffness-friction model, when the joint motion speed is low, it is necessary to judge the type of joint friction moment at all times, which consumes a lot of computational performance in logical operations, and cannot be directly applied to joint real-time In the dynamic model

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  • A real-time dynamic modeling method for manipulator joints
  • A real-time dynamic modeling method for manipulator joints
  • A real-time dynamic modeling method for manipulator joints

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Embodiment Construction

[0035] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0036] The present invention provides a real-time dynamic modeling method of a mechanical arm joint, such as Figure 9 Shown, the present invention specifically comprises the following steps:

[0037] Step 1, establishing a dynamic model of the mechanical arm joint; the dynamic model is the balance equation of motor torque and motor moment of inertia, friction and load torque;

[0038] The space manipulator joint is generally composed of a multi-stage planetary gear train and a drive motor. The joint model mainly includes the joint hysteresis model, the joint stiffness model, the load influence and the joint friction model, through which the information of the motor output end is converted into the information of the joint end. The dynamic model is generally as described in formula (1), mainly including joint motor inertia, reduction ratio, current consta...

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Abstract

The invention discloses a real-time dynamic modeling method of a manipulator joint, comprising the following steps: 1, establishing a dynamic model of the manipulator joint; the dynamic model is the balance equation of motor torque and motor moment of inertia, friction force and load torque. 2, measuring the parameters of the above dynamic model; 3, constructing a torsional rigidity linear model of the manipulator joint; 4, constructing the friction torque fitting model of manipulator joint; 5, the model in step 3 and step 4 can be substituted into step 1 to complete real-time modeling, and the invention can reduce the calculation time of the joint dynamics model and realize real-time simulation of the manipulator.

Description

technical field [0001] The invention belongs to the field of dynamic modeling and simulation, and in particular relates to a real-time dynamic modeling method of a manipulator joint. The method of the invention is suitable for real-time dynamic simulation, semi-physical simulation and experiment of a large-scale space manipulator, and satisfies real-time performance Under the premise of not losing the accuracy of dynamic analysis. Background technique [0002] The robotic arm of the space station is one of the major key technologies in the follow-up project of my country's manned spaceflight. It is used to ensure the safe and reliable operation of the space station during its orbital life, the assembly and construction of the space station, maintenance and repair, assisting astronauts to go out of the cabin, and supporting space applications. , is to ensure the key equipment of my country's space station project. [0003] Due to the strict constraints imposed by the space st...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
CPCG06F30/17G06F30/20
Inventor 危清清张文明张磊刘鑫王耀兵邹大力
Owner BEIJING INST OF SPACECRAFT SYST ENG
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