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Flexible control method of space robot and round experiment verification system

A space robot, compliant control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of lack of space machine heat, lack of reliable ground experimental verification system, etc.

Active Publication Date: 2019-08-16
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] In order to solve the problems in the prior art of lacking a high-precision, versatile, and cost-effective space machine thermal compliance control method, and also lacking a corresponding reliable ground experiment verification system, the present invention provides a space robot Compliant control method and ground experiment verification system

Method used

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  • Flexible control method of space robot and round experiment verification system
  • Flexible control method of space robot and round experiment verification system
  • Flexible control method of space robot and round experiment verification system

Examples

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Embodiment 1

[0059] In the process of the end-of-arm tool of a space robot capturing a non-cooperative target, the contact force between the end-of-arm tool and the non-cooperative target is often the force generated by the collision, so the compliant control of the end-of-arm tool needs to have a high response speed, and It is also required that the end-of-arm tooling can operate smoothly according to the magnitude and direction of the collision force.

[0060] like figure 1 As shown, the present invention provides a compliant control method for a space robot, comprising the following steps:

[0061] S1: Obtain the contact force between the end-of-arm tool of the space robot and the target spacecraft;

[0062] S2:: determine the compliance matrix according to the size of the contact force;

[0063] S3: Determine the reference speed of the end-of-arm tool according to the contact force and the compliance matrix;

[0064] S4: Obtain the reference angular velocity of each joint of the mec...

Embodiment 2

[0074] like image 3 As shown, a ground experiment verification system includes: robot, end-of-arm tool, multi-dimensional force sensor and processor;

[0075] The multi-dimensional force sensor is connected to the robot and the end-of-manipulator tool respectively, and collects the contact force between the end-of-manipulator tool and the environment in the X-axis, Y-axis, Z-axis and The values ​​on the components around the X axis, around the Y axis, and around the Z axis;

[0076] a processor, connected in communication with the robot and the multi-dimensional force sensor, for receiving real-time information of the robot and the multi-dimensional force sensor and sending motion control instructions to the robot and the multi-dimensional force sensor in real time; performing sliding mean filtering on the contact force collected by the multi-dimensional force sensor and compensating the zero point drift of the multi-dimensional force sensor; and compensating the gravity of ...

Embodiment 3

[0136] If the ground experiment verification system is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magne...

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Abstract

The invention provides a flexible control method of a space robot and a ground experiment verification system. The method comprises the following steps that S1, the contact force between a mechanicalarm tail end tool of the space robot and a target spacecraft is acquired; S2, a flexibility matrix is determined according to the size of the contact force; S3, the reference speed of the mechanical arm tail end tool is determined according to the contact force and the flexibility matrix; and S4, the reference angular speed of each joint of a mechanical arm is obtained through the reference speedof the mechanical arm tail end tool, and the movement of a motor inside each joint of the mechanical arm is controlled according to the corresponding reference angular speed. The flexible control method of the space robot is a method for changing the flexibility coefficient according to external contact force, and finally the external contact force is converted into the speed of the tail end toolof the space robot, so that the tail end tool of the space robot can quickly and stably conform to the external contact force to move, and the effect of buffering the contact force is achieved.

Description

technical field [0001] The invention relates to the technical field of space robots, in particular to a compliance control method of a space robot and a ground experiment verification system. Background technique [0002] With the continuous development of science and technology, people's exploration of outer space continues to deepen, and the number of spacecraft in space is also increasing. On-orbit service tasks such as cleaning up space junk, repairing faulty spacecraft, and replacing aerospace components have become the basic guarantee for people to explore space. Due to the complex space environment, the cost of on-orbit service only relying on astronauts is too high, so the current on-orbit service technology is increasingly dependent on the autonomous operation of space robots, and the compliant control of space robots is the key to future on-orbit service engineering. one of the key technologies. [0003] A space robot refers to a robot operating in an outer space...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00B64G4/00
CPCB25J9/16B25J9/1679B25J19/00B25J19/0095B64G4/00B64G2004/005
Inventor 刘厚德董伉伉朱晓俊高学海王学谦梁斌
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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