Operation control method of space manipulator

Abstract

The invention discloses an operation control method of a space manipulator. According to the operation control method, a three-degree-of-freedom horizontal moving handle, a three-degree-of-freedom rotating handle and a display control module are adopted to control the position, posture, path and speed of the space manipulator, wherein the horizontal moving handle is used for conducting horizontalmoving control on the spatial position and speed of the tail end of the space manipulator; the rotating handle controls the pitching, yawing and rolling postures and speeds of the tail end of the space manipulator, and meanwhile can further control the rotating position and speed of each joint of the space manipulator; and the display control module is used for realizing working mode selection, speed gear mode selection, state display, quick operation and urgent treatment of emergency situations of the space manipulator. According to the operation control method, the space manipulator can be operated and controlled conveniently and flexibly by one astronaut through cooperation of multiple modules.

Description

technical field [0001] The invention belongs to the technical field of space manipulators, and in particular relates to an operation control method of a space manipulator. Background technique [0002] The on-orbit operating system of the space manipulator is used to support the astronauts in the cabin to control the movement of the manipulator, and is the initiator and status monitoring end of the manipulator task. [0003] At present, the space robotic arms successfully developed and put into use include the Canadian arm SSRMS (Space Station Remote Manipulator), the European arm ERA (European Robotic Arm), and the Japanese experimental arm JEMRMS (Japanese Experiment Module Remote Manipulator System). Its operation control terminal is a pair of three-degree-of-freedom handles installed in the cabin. The discrete design can satisfy the astronauts' operation of the robotic arm, but its coordination is insufficient. Especially when performing complex tasks through the handle...

AI Technical Summary

Problems solved by technology

Its operation control terminal is a pair of three-degree-of-freedom handles installed in the cabin. The discrete design can satisfy the astronauts' operation of the robotic arm, but its coordination is insufficient.

Especially when performing complex tasks through the handle, it is difficult for one person to coordinate the two handles and take into account the status information of the robotic arm to control the robotic arm. The operation process is cumbersome, and the ability and efficiency of performing tasks are limited.

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