A Coordinated Control Method for Dual-arm Space Robots Based on Mixed Task Priority

A space robot, task priority technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of low-level task failure, system singularity, etc., to avoid algorithm singularity and improve control performance.

Active Publication Date: 2022-05-13
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, the former is prone to system singularity; the latter is prone to failure of low-level tasks

Method used

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  • A Coordinated Control Method for Dual-arm Space Robots Based on Mixed Task Priority
  • A Coordinated Control Method for Dual-arm Space Robots Based on Mixed Task Priority
  • A Coordinated Control Method for Dual-arm Space Robots Based on Mixed Task Priority

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Embodiment

[0177] A method for coordinated control of a dual-arm space robot based on mixed task priority, comprising the following steps:

[0178] Step 1: Set the three tasks of the dual-arm space robot system, and set the order of priority from high to low: Task 1: Coordinated movement at the end of the dual arm; Task 2: Trajectory tracking at the end of the main arm and the task 3: Avoid obstacles;

[0179] Step 2: Combine figure 2 , according to the coupling effect between the base and the manipulator, construct the kinematics model of the dual-arm space robot, which specifically includes the following steps:

[0180] Step 2-1: Determine the center of mass of the dual-arm space robot system:

[0181]

[0182] Among them, r 0 is the position of the center of mass of the robot base in the inertial coordinate system; n a , n b Respectively, the number of connecting rods of robot A arm and B arm; m 0 is the mass of the base; a m k , b m k are the mass of the kth connecting ...

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Abstract

The present invention provides a dual-arm space robot coordination control method based on mixed task priority. First, set the three tasks of the dual-arm space robot system, and set the order of priority; then construct the kinematics model of the dual-arm space robot According to the model, construct the inverse kinematics equation of the dual-arm space robot and obtain the inverse solution according to tasks 1 and 2; construct an obstacle avoidance algorithm and design zero-space adaptive projection operator coefficients to realize task 3, and finally construct a closed-loop kinematics controller, Realize the relative movement of the end of the manipulator and the convergence of the position tracking error of the main manipulator. The present invention considers the coupling between the base and the manipulator, and designs a controller based on mixed task priority, which can enable the dual-arm space robot to perform multiple conflicting tasks at the same time and improve the control performance of the system to ensure Under the environment, the dual-arm space robot can realize the trajectory tracking of the end of the main arm and the coordinated control of the end of the dual arm.

Description

technical field [0001] The invention belongs to the field of space robot control, in particular to a dual-arm space robot coordination control method based on mixed task priority. Background technique [0002] With the continuous deepening of space exploration, it is an inevitable trend for space robots to replace astronauts to perform dangerous operations, and all countries are vigorously carrying out research. Compared with single-arm space robots, dual-arm space robots have higher work flexibility, stronger maneuverability, and correspondingly higher control difficulty. Unlike robots with fixed bases, there are multiple dynamic couplings in free-floating space robots in a microgravity environment. The movement of the manipulator will disturb the floating base of the space robot. Conversely, the movement of the base will also affect the stability of the operation at the end of the manipulator. sex and accuracy. Therefore, the coordination of dual-arm space robots has alw...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 洪梦情丁萌郭毓刘辽雪朱锐
Owner NANJING UNIV OF SCI & TECH
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