Space robot arresting control system, reinforce learning method and dynamics modeling method

Abstract

The invention discloses a space robot mechanical arm arresting control system. The space robot mechanical arm arresting control system comprises two loops, namely, an inner loop and an outer loop, inthe outer loop, the system achieves the attitude stability of a space robot mechanical arm base platform in the arresting process through a PD controller, and in the inner loop, the system controls amechanical arm to achieve arresting maneuvering on a non-cooperative target through a reinforce learning control system based on reinforce learning. The invention further discloses a reinforce learning method for controlling the reinforce learning control system of the mechanical arm in the inner loop of the system and a space robot dynamics modeling method of the space robot mechanical arm arresting control system. According to the space robot arresting control system, the reinforce learning method and the dynamics modeling method, compared with PD control, the posture disturbance of the baseplatform under reinforce learning RL control is smaller, the movement process of the tail end of the mechanical arm is more stable, the control precision is higher, moreover, the motion flexibility of the mechanical arm under the reinforce learning RL control is good, and the autonomous intelligence is achieved to the greater extent.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a control system and method for a manipulator of a space robot. Background technique [0002] In recent years, more and more satellites have been launched into space. Although satellite mission failures are mostly due to launch vehicle failures, in-orbit failures are also an important reason for satellite mission failures. There are also many satellites due to fuel exhaustion or power failure. There is not enough supply to continue to do the job, seriously affecting the lifespan of the satellite. As the harsh space environment poses greater risks to astronauts’ extravehicular operations, space robots can completely replace humans to complete these extravehicular space operations, and can be widely used in many aspects of on-orbit maintenance, fuel filling, and on-orbit assembly. In orbit servicing tasks, it has become a research hotspot in many countries. The manipulator and the ba...

AI Technical Summary

Problems solved by technology

Traditional controllers require an accurate dynamic model of the known space robotic system and do not take into account the non-cooperative nature of the target

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