A spin target capture method using a space dual-arm robot

A space robot and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of noise, unstable control system, and difficulty in realization, so as to achieve fast derotation speed, reduce adverse effects, and improve reliability effect

Active Publication Date: 2022-07-26
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

The existing dual-arm robot capture methods all assume that the target capture position is symmetrical, and end force sensors are required to achieve impedance control, but a completely symmetrical capture position is difficult to achieve, and due to the sensitive characteristics of the force sensor, it is inevitable The presence of noise, leading to instability of the control system

Method used

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  • A spin target capture method using a space dual-arm robot
  • A spin target capture method using a space dual-arm robot
  • A spin target capture method using a space dual-arm robot

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Embodiment Construction

[0072] see figure 1 — Figure 5 , the technical scheme adopted in the present invention comprises the following steps:

[0073] 1) According to the design of the grabber, establish the system dynamics model of the dual-arm space robot and the target;

[0074] 2) Design a compliance control method to achieve the synchronous racemization and capture of the target;

[0075] In the step 1), the specific steps of establishing the system dynamics model of the dual-arm space robot and the target are as follows:

[0076] 1-1): Constraint Analysis

[0077] In order to establish a dynamic model under constraints, the tangential and normal position constraints between the spherical catcher and the target need to be analyzed first. The constraints are as follows figure 1 shown. Define the first joint point O of the right arm of the space robot as the origin of the reference coordinate system. The position of the target center of mass is (x, y) in the space robot body coordinate syst...

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Abstract

The invention relates to a spin target capture method using a space double-arm robot. The method can achieve target capture under the condition of target spin and can reduce the requirement for the accuracy of target capture position, reduce fuel consumption, and effectively It realizes the capture of the spinning target by the space dual-arm robot and makes the capture process efficient and reliable.

Description

technical field [0001] The invention belongs to the research field of spacecraft control technology, and particularly relates to a control method for synchronously completing target derotation and capture by a space dual-arm robot under the condition of target spin, and finally achieving target stability. Background technique [0002] With the development of space technology and space applications, the number of global satellite launches is increasing year by year, and the number of spacecraft that fail due to malfunction or fuel exhaustion is also increasing. In most cases, the failed spacecraft loses its attitude control ability, but its payload can still work normally, so it is necessary to use space robots to refuel and maintain it on-orbit. Considering the influence of factors such as the residual angular momentum of the failed spacecraft, the energy dissipation generated by the flexible parts, and the disturbance generated by the gravitational gradient moment, the spac...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1612B25J9/1679
Inventor 黄攀峰韩冬刘正雄马志强孟中杰张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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