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Self-adaptive compliance and stability control method for space robot

A stable control method and technology of space robots, which are applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of sacrificing tracking efficiency and accuracy, and achieve the effect of improving safety, reliability and efficiency.

Active Publication Date: 2020-06-16
RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method sacrifices the efficiency and accuracy of tracking, and is an overly conservative strategy.

Method used

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  • Self-adaptive compliance and stability control method for space robot
  • Self-adaptive compliance and stability control method for space robot
  • Self-adaptive compliance and stability control method for space robot

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Embodiment Construction

[0037] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0038] Provide the principle of the control method of the space single-arm robot compliant and stable space non-cooperative target proposed in this embodiment, including deriving the dynamic model of the space single-arm robot; establish the virtual spring that the end of the mechanical arm contacts with the target, to The stable motion is compliant; by designing an adaptive neural network and an impedance tracking controller, the impedance tracking of the compliant expected trajectory can be realized, and then the compliant and stable spatial non-cooperative target can be realized.

[0039] Establish a space single-arm robot dynamic model:

[0040] The tumbling target model can be simplified as a rigid body, and its dynamics can be expressed by a six-degree-o...

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PUM

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Abstract

The invention provides a self-adaptive compliance and stability control method for a space robot. The method comprises the following steps: deriving a kinetic model after capturing of a space robot; designing a virtual spring enabling a target to be in contact with the tail end of a mechanical arm, and carrying out compliance treatment on an expected motion; designing a tracking controller based on self-adaptation, and realizing self-adaptation adjustment of the control effect in an impedance tracking expectation process; finally, verifying the effectiveness of the method provided by the invention through examples. because of designing of the virtual spring, under the condition that the space robot does not need to be provided with a compliant mechanism at the tail end of a mechanical arm,self-adaptive compliant control after capturing of a non-cooperative target is achieved.

Description

technical field [0001] The invention relates to a method for a space robot to compliantly and stably roll over a non-cooperative target, in particular to a compliant control method for a space robot. Background technique [0002] Space robot grasping on-orbit targets is one of the important key basic technologies required for on-orbit service tasks. In existing studies, researchers usually divide the capture task into three stages in sequence, namely, pre-capture, capture and post-capture. The space robot manipulates the end of the manipulator close to the capture point in the two stages before and during the capture, and achieves a firm grip between the end of the manipulator and the capture point. In the post-capture stage, the robotic arm and the base of the space robot cooperate to complete the stabilization or reconstruction task of the target. In the entire capture task, the task objectives before and during the capture focus on the guarantee of optimal operation and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王明明夏鹏程罗建军李伟朱战霞袁建平
Owner RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN