Integrative control method of space robot pose and posture with active rope retraction

Abstract

The invention discloses a pose and posture integrated control method for an active rope-receiving space robot. The method controls the position change of the robot through the rope-retracting speed, and controls the posture change of the robot by changing the position of the action point of the rope so that the pulling force deviates from the center of mass. The present invention is based on a simplified model of the relative motion of the space robot's rope retraction, considering model errors and disturbances, and combining the requirements of the robot's position control to design the relationship between the rope retraction rate with time, calculate the speed of the rope retraction motor according to the design rate, and calculate the speed generated on the rope Pulling force: Based on the torque required to adjust the robot's attitude and the pulling force of the rope, the position of the action point required for the eccentricity of the pulling force is calculated, and the output of the actuator is calculated according to the position change. The invention utilizes the eccentricity of the rope and the pulling force to realize the position control and attitude control of the space robot at the same time. Since the pulling force of the rope is fully utilized, the actuators for position movement and attitude adjustment of the space tethered robot can be simplified.

Description

technical field [0001] The invention belongs to the field of dynamics and control of space tethered robots, and in particular relates to an integrated control method of a space robot's position and posture that actively draws the rope. Background technique [0002] The tether system has unique characteristics and functions in the relative motion control of the spacecraft. In space, the spacecraft is connected by the tether to fly in orbit and complete various predetermined tasks, which has been widely studied in the aerospace field. The advantage of the tether is that the rope is very flexible, which can constrain the relative motion of the spacecraft and change the length easily. The range of motion of the spacecraft connected by the tether is very wide, and it can well adapt to the flight in a large space environment. Strong flexibility, but also subject to certain restrictions, will not be completely out of control; secondly, the relative movement between spacecraft in th...

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Problems solved by technology

[0005] 1. For the realization of the position control of the robot in space, most of the existing studies regard the tension of the rope as the input design, and do not consider the tension of the rope as the input. It is very difficult to realize the design of the control mechanism. These theoretical studies and Analysis can obtain the motion characteristics of the robot under the action of the rope, but it is difficult to guide the engineering design;

[0006] 2. For the attitude control of the robot in space, the existing rope retraction control design does not consider making full use of the tension of the rope, and at the same time realizes the adjustment of the robot's attitude. For the attitude adjustment, an additional flywheel or engine is required. This increases the structural mass of the robot, resulting in a lower economy;

[0007] 3. For the simultaneous control of the position and attitude of the space robot, the existing control methods do not take into account the coupling between the two, and only focus on one aspect of the control method design. Unilaterally meeting the control requirements does not guarantee the overall The control also meets the requirements, and the influence of model errors and disturbances is not considered

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