A trajectory tracking control method for a free-flying robotic arm with five degrees of freedom in space
A trajectory tracking, robotic arm technology, applied in aircraft, space navigation equipment, space navigation aircraft, etc., can solve the problem of difficult to guarantee the static and dynamic characteristics of the robotic arm, and achieve the effect of improving accuracy and speed
Active Publication Date: 2022-08-09
DALIAN UNIV OF TECH
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The characteristic of the kinematics control method of the manipulator is that the control law is simple, and it is easy to simulate and realize it through software. However, for high-speed, high-precision manipulator control, this method is difficult to guarantee that the manipulator we control can have the desired performance. Static and dynamic characteristics, it is not enough to control them only by kinematic methods
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[0139] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and technical solutions.
[0140] Set the mass m of the base of the robot arm 0 , the mass m of connecting rod 1 1 and the mass m of connecting rod 2 2 40kg, 4kg, and 3kg respectively; the distance r between joint 1 and the origin of the inertial coordinate system 0 , the distance l between the center of mass of joint 1 and link 1 1 , the distance r between joint 2 and link 1 1 , the distance l between joint 2 and link 2 2 , the distance r between the end and connecting rod 2 2 The length is 0.5m; the base moment of inertia I 0 , the moment of inertia I of connecting rod 1 1 , the moment of inertia I of connecting rod 2 2 6.667kg m respectively 2 , 0.333kg m 2 and 0.250kg m 2 .
[0141] The ideal trajectories of the base and end movements of the manipulator are respectively set as follows:
[0142] The ideal trajectory of the movemen...
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The invention discloses a trajectory tracking control method of a space five-degree-of-freedom free-flying mechanical arm, which can solve the problem of accuracy of capturing and manipulating space objects by a five-degree-of-freedom space free-flying mechanical arm installed on a spacecraft. It mainly includes the following four points: 1) The forward kinematics model of the manipulator is established by the D‑H method; 2) The dynamic model of the manipulator is established by the Lagrangian equation; 3) The Jacobian transpose matrix and PD control are combined 4) According to the dynamic differential equation, use Simulink software to build a simulation model. The present invention builds the kinematics and dynamics models of the mechanical arm at the same time, and uses the method of combining the Jacobian transposition matrix with the PD controller, which effectively solves the problem that the currently widely used kinematics control method cannot well track and control the high-speed, high-speed, and high-speed control space. Problems with high-precision robotic arms.
Description
technical field [0001] The invention discloses a trajectory tracking control method of a free flying mechanical arm with five degrees of freedom in space, which can solve the problem of the accuracy of capturing and manipulating space objects by a free flying mechanical arm with five degrees of freedom in space. Background technique [0002] In recent years, the number of satellites launched by various countries has gradually increased. In order to ensure the normal operation of each satellite, reduce the cost of space equipment and prolong the service life of satellites, it is necessary for space robots to carry out continuous inspection, assembly and maintenance in orbit. Therefore, there is an urgent need to improve the reliability of space robot systems for on-orbit services. To improve the maneuverability of on-orbit robotic systems, scientists have proposed a space free-flying robotic arm (SFFR) with manipulators mounted on the spacecraft. [0003] For the free-flying...
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IPC IPC(8): B64G1/24
CPCB64G1/242
Inventor 汪锐吴桢孙希明吕宗阳
Owner DALIAN UNIV OF TECH