Fast space robot simulation modeling method and system

Abstract

The invention relates to a quick space robot simulation modeling method. A joint angle, a joint angular velocity, a joint angular acceleration and a flywheel control moment of a mechanical arm are used as inputs; and the kinematics model of the mechanical arm, the mass center kinematics model of the space robot, the installation kinematics model of the mechanical arm, the reverse kinematics model of the mechanical arm and the forward attitude kinematics model of the base are solved circularly according to the preset time step length, and a kinematics simulation data sequence of the base and the mechanical arm of the space robot is solved. Modularized modeling is carried out on the space robot base and mechanical arm dynamics, researchers can independently develop simulation modules of the base and all mechanical arms carried by the base, and then module association calculation is carried out through a positive and negative dynamics mixing method and a space composite kinematics method. The above characteristics help researchers to quickly and efficiently realize space robot simulation modeling.

Description

technical field [0001] The invention belongs to the technical field of on-orbit service and maintenance of space vehicles, and relates to a simulation modeling method for a modular and fast space robot. Background technique [0002] On-orbit service and maintenance is one of the frontier hotspots in aerospace technology. After the service vehicle approaches the space target, it implements service operations such as close-range observation, refueling, auxiliary orbit change, module replacement, and component maintenance, which can achieve the target satellite's service operations. On-orbit fault recovery and life extension, so as to continue to exert on-orbit application value and generate great economic benefits. [0003] The use of space robot satellites with robotic arms is the most direct method to implement close-range service operations on target satellites, especially for delicate operation tasks such as module replacement and component repair. The dynamic simulation ...

AI Technical Summary

Problems solved by technology

Most of them are commercial software, and some are open-source software, but they all have the following disadvantages: large-scale software, complex algorithms, poor modularity, poor self-controllability of codes, and complicated interface processing with self-developed control programs, involving A lot of debugging work

[0004] At present, there are no public literature reports and patents at home and abroad that are identical to the simulation modeling method of the modularized fast space robot proposed in this patent.

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