Controller driver semi-physical simulation verification system for space manipulator system

Abstract

The application discloses a controller driver semi-physical simulation verification system for a space manipulator system, comprising: a real system and a simulation system; the real system comprises a space manipulator controller, joint drivers and joint units; the simulation system comprises a controller simulation module, joint driver simulation modules and a Vrep manipulator simulation module, which are used for simulating the related functions of the space manipulator controller, joint drivers and joint units respectively; the joint driver simulation modules are used for simulating the related functions of the joint drivers; and the Vrep manipulator simulation module is used for simulating the related functions of the joint units. The application aims at solving the difficulty in function verification caused by the high coupling degree of each subsystem of the space manipulator system, and designs simulation software of the subsystems and corresponding hardware and simulation models to build multiple semi-physical simulation subsystems, so that the function decoupling of the complete control system is completed, and each subsystem has the ability of independent debugging and joint debugging.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of space manipulator, and particularly relates to a controller driver semi-physical simulation verification system for a space manipulator system. BACKGROUND

[0002] In the space field, a space vehicle with a manipulator can complete a series of complex tasks in orbit, including maintenance of a space station, capture of a small satellite and assistance in a space docking process, and plays an increasingly important role. However, in the process of development, design and debugging of the manipulator system, there are many manipulator system single machines, the system is complex, the system coupling degree is high, and it is difficult to split into separate subsystems, which brings great difficulty in debugging tests. How to decouple a large number of single machines in the manipulator system into separate subsystems is very important in the design and debugging process of the manipulator system. SUMMARY

[0003] The technical problem of the application is to overcome the shortcomings of the prior art, provide a controller driver semi-physical simulation verification system for a space manipulator system, and solve the difficulty of function verification caused by high coupling degree of each subsystem of the space manipulator system. The simulation software of the design subsystem and the corresponding hardware and simulation model are used to build multiple semi-physical simulation subsystems, so as to complete the function decoupling of the complete control system, and each subsystem has the ability of independent debugging and joint debugging.

[0004] In order to solve the above technical problem, the application discloses a controller driver semi-physical simulation verification system for a space manipulator system, comprising: a real system and a simulation system.

[0005] The real system comprises a space manipulator controller, a joint driver and a joint single machine. The space manipulator controller is used for receiving instructions and information of an upper layer comprehensive electronic and issuing control instructions to the joint driver. The joint driver is used for driving the joint single machine to perform corresponding actions according to the received control instructions. The joint single machine is used as a motion execution mechanism to perform corresponding actions under the driving of the joint driver, so as to realize the motion of the manipulator position.

[0006] The simulation system comprises a controller simulation module, a joint driver simulation module and a Vrep manipulator simulation module. The controller simulation module is used for simulating the related functions of the space manipulator controller. The joint driver simulation module is used for simulating the related functions of the joint driver. The Vrep manipulator simulation module is used for simulating the related functions of the joint single machine.

[0007] In the controller driver semi-physical simulation verification system for the space manipulator system, the controller simulation module simulates the relevant functions of the space manipulator controller by means of a software host computer, with the aid of a computer and external interface equipment, including: control instruction distribution, task planning, path planning, trajectory planning, communication with the joint driver, and communication with the joint driver simulation module.

[0008] In the controller driver semi-physical simulation verification system for the space manipulator system, the communication protocol adopted by the controller simulation module is completely consistent with that of the space manipulator controller; the controller simulation module can realize the task planning, path trajectory planning and motion control functions that are completely consistent with those of the space manipulator controller, and contains the kinematics and inverse kinematics algorithm of the manipulator, the task distribution state machine, the offline path maintenance and trajectory smoothing interpolation algorithm.

[0009] In the controller driver semi-physical simulation verification system for the space manipulator system, the joint driver simulation module simulates the relevant functions of the joint driver by means of a software host computer, with the aid of a computer and external interface equipment, including: control instruction reception, state feedback and joint driver parameter adjustment.

[0010] In the controller driver semi-physical simulation verification system for the space manipulator system, the communication protocol adopted by the joint driver simulation module is completely consistent with that of the joint driver; the joint driver simulation module can realize the state feedback functions that are completely consistent with those of the joint driver, including: joint position, speed, current, torque and working mode, and can also send the state feedback results to the space manipulator controller.

[0011] In the controller driver semi-physical simulation verification system for the space manipulator system, the Vrep manipulator simulation module simulates the relevant functions of the joint single machine by using the Vrep simulation software and API function interface calling, including: simulating the position movement of each joint of the manipulator and the end effector, so as to verify the kinematics, inverse kinematics correctness of the manipulator, the manipulator workspace, the path safety and the obstacle avoidance result from the simulation model.

[0012] In the controller driver semi-physical simulation verification system for the space manipulator system, the controller simulation module, the joint driver and the Vrep manipulator simulation module form a joint driver semi-physical subsystem.

[0013] In the controller driver semi-physical simulation verification system for the space manipulator system, the controller simulation module, the joint driver simulation module and the joint single machine form an actuator semi-physical subsystem.

[0014] In the controller driver semi-physical simulation verification system for the space manipulator system, the space manipulator controller, the joint driver simulation module and the Vrep manipulator simulation module form a controller semi-physical subsystem.

[0015] The present application has the following advantages:

[0016] (1) The controller driver semi-physical simulation verification system for the space manipulator system disclosed in the present application decouples the highly coupled space manipulator system into multiple single-machine subsystems, each of which has high independence and flexibility, and can be used for individual verification in cooperation with other single machines or for functional performance verification in the entire system integration process.

[0017] (2) The controller driver semi-physical simulation verification system for the space manipulator system disclosed in the present application has strong reusability, and can be used for different products with only slight modification or without modification.

[0018] (3) The controller driver semi-physical simulation verification system for the space manipulator system disclosed in the present application has the same communication protocol interface as the hardware, and can fully verify the communication of each system.

[0019] (4) The controller driver semi-physical simulation verification system for the space manipulator system disclosed in the present application has the same kinematic equivalent characteristics as the actual manipulator, and can fully verify the correctness of the manipulator algorithm. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural block diagram of the controller driver semi-physical simulation verification system for the space manipulator system in the embodiment of the present application;

[0021] Figure 2 is a structural block diagram of a joint driver semi-physical subsystem in the embodiment of the present application;

[0022] Figure 3 is a structural block diagram of an actuator semi-physical subsystem in the embodiment of the present application;

[0023] Figure 4 is a structural block diagram of a controller semi-physical subsystem in the embodiment of the present application. DETAILED DESCRIPTION

[0024] To make the purpose, technical scheme and advantages of the present application clearer, the embodiments disclosed in the present application will be further described in detail below with reference to the drawings.

[0025] The space manipulator system mainly comprises the following single machines: a space manipulator controller for processing instructions and motion control, a joint driver for realizing the motion function of the manipulator, and a joint single machine as an actuator of the manipulator. The instruction processing of the space manipulator controller relies on the host computer of the tester, and the motion control needs to rely on the joint driver and the joint single machine; the instruction of the joint driver is derived from the parameter configuration and the space manipulator controller, and the motion implementation needs to rely on the joint single machine; the joint single machine is only responsible for the execution of rotation and needs the joint driver to provide the related motion functions. The parts are coupled with each other, and it is difficult to debug individually, the problem positioning is difficult during joint test, and the difficulty of the debugging process is increased.

[0026] The present application aims at the coupling of the space manipulator system mentioned above, and on the basis of splitting the single machines, a joint test subsystem is designed by a semi-physical simulation system, the host computer or simulation software and the single machines, the function and performance debugging problems of the single machines are solved through subsystem testing, and when the single machine subsystem debugging is completed, product joint test is carried out to realize the debugging test of the complete system.

[0027] As Figure 1 In the embodiment, the controller driver semi-physical simulation verification system for the space manipulator system comprises: a real system and a simulation system. The real system can specifically comprise: a space manipulator controller, a joint driver and a joint single machine; and the simulation system can specifically comprise: a controller simulation module, a joint driver simulation module and a Vrep manipulator simulation module.

[0028] The space manipulator controller is used for receiving instructions and information of an upper layer comprehensive electronic and issuing control instructions to the joint driver.

[0029] The joint driver is used for driving the joint single machine to execute corresponding actions according to the received control instructions.

[0030] The joint single machine, as a motion execution mechanism, is used for executing corresponding actions under the driving of the joint driver, so as to realize the motion of the manipulator position.

[0031] The controller simulation module is used for simulating the related functions of the space manipulator controller.

[0032] In the embodiment, the controller simulation module simulates the relevant functions of the space manipulator controller by means of a software host computer, with the aid of a computer and external interface devices, including: control instruction distribution, task planning, path planning, trajectory planning, communication with the joint driver, and communication with the joint driver simulation module. The communication protocol adopted by the controller simulation module is completely consistent with that of the space manipulator controller (here, mainly the CAN communication function between the joint driver and the space manipulator controller); the controller simulation module can realize the task planning, path trajectory planning and motion control functions that are completely consistent with those of the space manipulator controller, including the kinematics and inverse kinematics algorithm of the manipulator, task distribution state machine, offline path maintenance and trajectory smoothing interpolation algorithm, etc.

[0033] The joint driver simulation module is configured to simulate the relevant functions of the joint driver.

[0034] In the embodiment, the joint driver simulation module simulates the relevant functions of the joint driver by means of a software host computer, with the aid of a computer and external interface devices, including: control instruction reception, state feedback and joint driver parameter adjustment. The communication protocol adopted by the joint driver simulation module is completely consistent with that of the joint driver (here, mainly the CAN communication function between the joint driver and the space manipulator controller); the joint driver simulation module can realize the state feedback function that is completely consistent with that of the joint driver, including: joint position, speed, current, torque, working mode, and at the same time, the state feedback results can be uploaded to the space manipulator controller.

[0035] The Vrep manipulator simulation module is configured to simulate the relevant functions of the joint unit.

[0036] In the embodiment, the Vrep manipulator simulation module simulates the relevant functions of the joint unit by using the Vrep simulation software and API function interface calling, including: simulating the position movement of each joint of the manipulator and the end effector, so as to verify the kinematics, inverse kinematics correctness of the manipulator, the working space of the manipulator, the path safety, and the obstacle avoidance result from the simulation model.

[0037] In the embodiment, the space manipulator controller, the joint driver, the joint unit, the controller simulation module, the joint driver simulation module and the Vrep manipulator simulation module can be combined with each other in any manner, and the combination forms include but are not limited to: space manipulator controller / controller simulation module + joint driver / joint driver simulation module + joint unit / Vrep manipulator simulation module.

[0038] Preferably, the controller simulation module, the joint driver and the Vrep manipulator simulation module form a joint driver semi-physical subsystem. Figure 2 Figure 3 ​The controller simulation module can be combined with the joint driver simulation module and the joint unit to form a controller semi-physical subsystem. The main function is to verify the position control and driver performance adjustment of the driver and actuator subsystem. Among them, the controller simulation module and the joint driver are connected by CAN communication, and the joint driver and the joint unit or the Vrep mechanical arm simulation module are connected by CAN communication. After receiving the task instruction, the controller simulation module performs task distribution processing and completes the algorithm calculation of kinematics, offline path searching, and trajectory planning. After obtaining a set of joint angle motion sequence, the joint angle motion sequence is sent to the joint driver through CAN communication. At the same time, the joint state or simulation system state returned by the joint driver is received and returned to the controller simulation module through CAN communication for corresponding manipulator state processing. The joint driver / controller semi-physical subsystem is used to verify the functions of the joint driver and the joint unit when there is no space manipulator controller, and the joint driver, the joint unit, and the space manipulator controller are decoupled.

[0039] Preferably, as Figure 4 The space manipulator controller can be combined with the joint driver simulation module and the Vrep mechanical arm simulation module to form a controller semi-physical subsystem, which can perform comprehensive controller instruction issuing, communication processing, kinematics verification, task distribution, path planning, and trajectory interpolation verification. The main function is to verify the space manipulator controller. Among them, the joint driver simulation module and the space manipulator controller are connected by CAN communication, which receives the joint position instruction issued by the space manipulator controller, and realizes the state feedback function consistent with the joint driver, including joint position, speed, current, torque, working mode, etc. The above joint state can be fed back to the upper space manipulator controller. The Vrep mechanical arm simulation module is built by Vrep to simulate the joint unit, which is connected to the rest software host computer through the API interface of Vrep software, and the motion of the mechanical arm model in the Vrep mechanical arm simulation module is controlled by the joint driver simulation module. In the absence of joint unit, the motion position and state of the mechanical arm model in the simulation software can intuitively reflect the motion position correctness, path safety, and other situations of the space manipulator, and the correctness of the kinematics algorithm in the space manipulator controller can be verified. It can be seen that the controller semi-physical subsystem can be used to verify the functions of the space manipulator controller when there is no joint driver and joint unit, and the space manipulator controller, joint driver, and joint unit are decoupled.

[0040] Preferably, the controller simulation module, the joint driver simulation module and the Vrep mechanical arm simulation module can be connected through a CAN communication interface to build a simulation verification subsystem (i.e. a simulation system) composed of a pure software host computer and a simulation model, and the simulation system does not contain any physical object. The kinematics, inverse kinematics, task partitioning, path planning, trajectory interpolation and other algorithm contents of the space manipulator can be verified without a product, and the motion position correctness and path safety of the space manipulator simulation model can be verified. The simulation verification subsystem is used to verify the algorithms and task design independently without the comprehensive controller, joint driver and joint single machine physical object, and the task planning process is decoupled from the space manipulator system physical object.

[0041] In summary, the application provides a controller driver semi-physical simulation verification system for a space manipulator system, which is used to solve the difficulty in function verification caused by high coupling degree of each subsystem of the space manipulator system, and a simulation software of a design subsystem is coupled with corresponding hardware and a simulation model to build multiple semi-physical simulation subsystems, so that the function decoupling of the complete control system is completed, and each subsystem has the ability of independent debugging and joint debugging. The function and performance debugging problems of each single machine are solved through subsystem testing, and when the debugging of each single machine subsystem is completed, product joint testing is performed to realize the debugging test of the complete system.

[0042] Although the application has been disclosed as above with reference to the preferred embodiments, it is not intended to limit the application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the application by using the disclosed methods and technical contents without departing from the spirit and scope of the application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the application, which does not deviate from the technical solutions of the application, belongs to the protection scope of the technical solutions of the application.

[0043] The contents not described in detail in the specification of the application belong to the known technology of the person skilled in the art.

Claims

1. A semi-physical simulation verification system for a controller driver in a space robotic arm system, characterized in that, include: Physical systems and simulation systems; The physical system includes: a spatial manipulator controller for instruction processing and motion control, joint actuators for realizing the manipulator's motion functions, and joint units as manipulator actuators. Instruction processing for the spatial manipulator controller is provided by a host computer of a testing instrument, while motion control is achieved through the joint actuators and joint units. Joint actuator instructions originate from parameter configurations and the spatial manipulator controller, and motion is realized through the joint units. The joint units are only responsible for rotation execution, while the joint actuators provide the necessary functions for the motion. Specifically, the spatial manipulator controller receives instructions and information from the upper-level integrated electronics and sends control commands to the joint actuators. The joint actuators drive the joint units to perform corresponding actions based on the received control commands. The joint units, as motion actuators, perform corresponding actions under the drive of the joint actuators, thereby realizing the movement of the manipulator's position. The simulation system includes: a controller simulation module, a joint actuator simulation module, and a Vrep robotic arm simulation module; wherein, the controller simulation module is used to simulate the relevant functions of the space robotic arm controller; the joint actuator simulation module is used to simulate the relevant functions of the joint actuator; and the Vrep robotic arm simulation module is used to simulate the relevant functions of the joint actuator. The space manipulator controller, joint actuators, joint units, controller simulation modules, joint actuator simulation modules, and Vrep manipulator simulation modules can be arbitrarily combined with each other. Combination forms include: space manipulator controller / controller simulation module + joint actuator / joint actuator simulation module + joint unit / Vrep manipulator simulation module; the controller simulation module, joint actuator, and Vrep manipulator simulation module form a joint actuator semi-physical subsystem; the controller simulation module, joint actuator simulation module, and joint units form an actuator semi-physical subsystem; the space manipulator controller, joint actuator simulation module, and Vrep manipulator simulation module form a controller semi-physical subsystem. This decouples the highly coupled space manipulator system into multiple single-unit subsystems, each with high independence and flexibility. These subsystems can be used for independent verification with other single units or for functional performance verification during the entire system integration process.

2. The semi-physical simulation verification system for the controller driver of a space robotic arm system according to claim 1, characterized in that, The controller simulation module uses a software host computer and external interface devices to simulate the relevant functions of the space manipulator controller, including: control command distribution, task planning, path planning, trajectory planning, communication with joint actuators, and communication with joint actuator simulation modules.

3. The semi-physical simulation verification system for the controller driver of a space robotic arm system according to claim 2, characterized in that, The communication protocol used by the controller simulation module is completely consistent with that of the space manipulator controller. The controller simulation module can realize the same task planning, path trajectory planning and motion control functions as the space manipulator controller, including the kinematic and inverse kinematic algorithms of the manipulator, task distribution state machine, offline path maintenance and trajectory smoothing interpolation algorithm.

4. The semi-physical simulation verification system for the controller driver of a space robotic arm system according to claim 1, characterized in that, The joint actuator simulation module uses a software host computer and external interface devices to simulate the relevant functions of the joint actuator, including: control command reception, status feedback, and joint actuator parameter adjustment.

5. The semi-physical simulation verification system for the controller driver of a space robotic arm system according to claim 4, characterized in that, The communication protocol used by the joint actuator simulation module is completely consistent with that of the joint actuator. The joint actuator simulation module can realize the same state feedback function as the joint actuator, including: joint position, speed, current, torque, and working mode. At the same time, it can send the state feedback results to the space manipulator controller.

6. The semi-physical simulation verification system for the controller driver of a space robotic arm system according to claim 1, characterized in that, The Vrep robotic arm simulation module uses Vrep simulation software and API function interface calls to simulate the relevant functions of the joints, including: simulating the position and movement of each joint and end effector of the robotic arm. This allows the accuracy of the robotic arm's kinematics and inverse kinematics, workspace, path safety, and obstacle avoidance results to be verified from the simulation model.

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