Spacecraft deployment mechanism adaptive gravity compensation method and system

Abstract

The application discloses a spacecraft deployment mechanism adaptive gravity compensation method and system, the method comprises the following steps: when a robot follows the movement of a deployment mechanism, the rotation angle of the movable component coordinate system of the deployment mechanism in the rotation plane and the vertical direction is obtained, and the actual lifting force of the robot end lifting point is obtained; the coordinates of the lifting point in the movable component coordinate system are obtained; based on the coordinates of the lifting point in the movable component coordinate system, the rotation angle of the movable component coordinate system in the rotation plane and the vertical direction and the actual lifting force of the robot end lifting point, the horizontal and vertical coordinate ratio of the center of gravity of the movable component in the movable component coordinate system and the target lifting force to be applied by the robot are determined to perform adaptive gravity compensation. The scheme can accurately determine the horizontal and vertical coordinate ratio of the center of gravity of the movable component in the movable component coordinate system and the target lifting force to be applied by the robot, and realizes adaptive gravity compensation under the condition that the mass characteristics of the movable component are unknown.

Description

Technical Field

[0001] This invention generally relates to the field of spacecraft assembly and testing technology, and specifically to an adaptive gravity compensation method and system for a spacecraft deployment mechanism. Background Technology

[0002] In the development of space satellite technology, spacecraft such as space stations and satellites need to ensure communication and energy supply to perform complex space missions, leading to the emergence of deployable mechanisms. In ground deployment experiments of spacecraft deployable mechanisms, measures are needed to compensate for the gravity of the moving parts to avoid the effects of gravity. This counteracts the torque exerted by the gravity of the moving parts on the axis of rotation, preventing additional torque from the gravity of the parts on the axis, thus achieving gravity compensation for the parts.

[0003] In the ground deployment experiment of the spacecraft deployable mechanism, gravity compensation can be achieved by using a robot. The robot's end effector lifts the movable parts of the deployment mechanism upwards. The magnitude of the lifting force can be calculated based on the weight of the movable parts and the position of the center of gravity. This ensures that the torque of the lifting force on the axis of rotation cancels out the torque of the part's weight on the axis of rotation, thereby achieving gravity compensation during the deployment process.

[0004] Currently, in practical applications, the magnitude of the gravity and the position of the center of gravity of moving parts are often difficult to obtain accurately in advance. Furthermore, since moving parts are already installed in the overall mechanism, they cannot be disassembled for individual mass characteristic testing. Therefore, in applications using robots for gravity compensation, how to obtain the lifting force applied by the robot when the mass characteristic data of the part to be compensated is unknown or inaccurate is a problem that urgently needs to be solved. Summary of the Invention

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an adaptive gravity compensation method and system for spacecraft deployment mechanisms, which can accurately determine the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the magnitude of the target lifting force to be applied by the robot, thus realizing adaptive gravity compensation under the condition of unknown mass characteristics of the moving part.

[0006] In a first aspect, the present invention provides an adaptive gravity compensation method for a spacecraft deployment mechanism, the method comprising:

[0007] When the robot follows the deployment mechanism, the rotation angle of the coordinate system of the moving part of the deployment mechanism in the rotation plane and the vertical direction is obtained, as well as the actual lifting force of the robot's end-effector lifting point is obtained.

[0008] Obtain the coordinates of the lifting point in the coordinate system of the moving part;

[0009] Based on the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the coordinate system of the moving part in the rotation plane and the vertical direction, and the actual lifting force of the lifting point of the robot end effector, the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the magnitude of the target lifting force to be applied by the robot are determined in order to perform adaptive gravity compensation.

[0010] In one embodiment, based on the coordinates of the lifting point in the movable part's coordinate system, the rotation angle of the movable part's coordinate system in the rotation plane relative to the vertical direction, and the actual lifting force of the robot's end effector lifting point, the ratio of the horizontal to vertical coordinates of the movable part's center of gravity in the movable part's coordinate system and the magnitude of the target lifting force to be applied by the robot are determined, including:

[0011] Using the principle of torque balance, based on the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the coordinate system of the moving part in the rotation plane and the vertical direction, and the actual lifting force of the lifting point at the end of the robot, a set of equations for the actual lifting force of the lifting point at the end of the robot is constructed.

[0012] Solving the actual lifting force equations yields the ratio of the horizontal to vertical coordinates of the center of gravity of the moving part in the moving part coordinate system and the magnitude of the target lifting force to be applied by the robot.

[0013] In one embodiment, the actual lifting force equation set includes a first actual lifting force equation and a second actual lifting force equation;

[0014] Solving the actual lifting force equations yields the ratio of the horizontal to vertical coordinates of the center of gravity of the moving part in the moving part's coordinate system and the magnitude of the target lifting force to be applied by the robot, including:

[0015] The first actual lifting force equation and the second actual lifting force equation are compared to obtain the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part.

[0016] The magnitude of the target lifting force to be applied to the robot is obtained based on the ratio of the horizontal to the vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the rotation angle.

[0017] In one embodiment, the magnitude of the target lifting force to be applied by the robot is obtained based on the ratio of the horizontal to the vertical coordinates of the center of gravity of the movable component in the movable component coordinate system and the rotation angle, including:

[0018] Based on the rotation angle and the ratio of the horizontal to the vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part, the magnitude of the target lifting force to be applied to the robot is calculated.

[0019] In one embodiment, the magnitude of the target lifting force to be applied by the robot is calculated based on the rotation angle and the ratio of the horizontal to vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part, including:

[0020] Obtain multiple sets of the ratio values ​​of the horizontal and vertical coordinates of the center of gravity of the moving parts in the coordinate system of the moving parts;

[0021] Based on the rotation angle and the ratio of the horizontal and vertical coordinates of the centers of gravity of the multiple moving parts in the coordinate system of the moving parts, the magnitude of the target lifting force to be applied to the robot is calculated using the least squares method.

[0022] In one embodiment, before obtaining the rotation angle of the coordinate system of the movable component of the unfolding mechanism in the plane of rotation relative to the vertical direction, the method further includes:

[0023] Establish an antenna coordinate system;

[0024] Based on the antenna coordinate system, establish the coordinate system of the moving parts.

[0025] In one embodiment, establishing the antenna coordinate system includes:

[0026] The center position of the rotation axis of the unfolding mechanism is taken as the origin of the antenna coordinate system, the initial direction of the movable part of the unfolding mechanism is taken as the direction of the longitudinal axis of the antenna coordinate system, and the direction of the movable part rotating 90° in the unfolding direction is taken as the direction of the transverse axis of the antenna coordinate system.

[0027] The direction of the vertical axis of the antenna coordinate system is determined by the right-hand rule based on the origin of the antenna coordinate system, the direction of the vertical axis of the antenna coordinate system, and the direction of the horizontal axis of the antenna coordinate system, thus constructing the antenna coordinate system.

[0028] In one embodiment, establishing the coordinate system of the moving part based on the antenna coordinate system includes:

[0029] The origin of the antenna coordinate system is taken as the origin of the movable component coordinate system, the direction of the movable component arm is taken as the direction of the vertical axis of the movable component coordinate system, and the direction of the vertical axis of the antenna coordinate system is taken as the direction of the vertical axis of the movable component coordinate system.

[0030] Based on the origin of the movable part coordinate system, the direction of the vertical axis of the movable part coordinate system, and the direction of the vertical axis of the movable part coordinate system, the direction of the horizontal axis of the movable part coordinate system is determined using the right-hand rule, and the movable part coordinate system is constructed.

[0031] In one embodiment, obtaining the actual lifting force at the robot's end effector lifting point includes:

[0032] Send an information acquisition command to the force sensor; the information acquisition command is used to instruct the acquisition of the actual lifting force corresponding to the lifting point at the robot's end effector.

[0033] The robot receives the actual lifting force at its end effector point from the force sensor.

[0034] Secondly, embodiments of this application provide an adaptive gravity compensation system for a spacecraft deployment mechanism. The system includes: a robot, a lifting device, a deployment mechanism, and a computer control device. The lifting device is installed at the end of the robot and is connected to the deployment mechanism. The lifting device has a lifting point. The computer control device is electrically connected to the robot.

[0035] The lifting device has a lifting point, and a force sensor is installed at the lifting point. The unfolding mechanism includes a rotating shaft and movable parts.

[0036] The computer control device is used to acquire the rotation angle of the coordinate system of the movable part of the deployment mechanism in the rotation plane and the vertical direction, and to acquire the actual lifting force of the robot's end-effector lifting point when the robot follows the deployment mechanism; to acquire the coordinates of the lifting point in the coordinate system of the movable part; and to determine the ratio of the horizontal and vertical coordinates of the center of gravity of the movable part in the coordinate system of the movable part and the magnitude of the target lifting force to be applied to the robot, based on the coordinates of the lifting point in the coordinate system of the movable part, the rotation angle of the coordinate system of the movable part in the rotation plane and the vertical direction, and the actual lifting force of the robot's end-effector lifting point, so as to perform adaptive gravity compensation.

[0037] The adaptive gravity compensation method and system for spacecraft deployment mechanisms provided in this application obtains the rotation angle of the coordinate system of the movable component of the deployment mechanism in the rotation plane and the vertical direction when the robot follows the movement of the deployment mechanism, as well as the actual lifting force of the robot's end-effector lifting point and the coordinates of the lifting point in the coordinate system of the movable component. Then, based on the coordinates of the lifting point in the coordinate system of the movable component, the rotation angle of the movable component coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot's end-effector lifting point, the ratio of the horizontal and vertical coordinates of the center of gravity of the movable component in the coordinate system of the movable component and the magnitude of the target lifting force to be applied by the robot are determined to perform adaptive gravity compensation. Compared with existing technologies, this technical solution, when the rotation axis of the deployment mechanism is in the horizontal direction, can more comprehensively obtain the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the moving part coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot's end-effector lifting point, even when the mass characteristics of the moving part are unknown. Based on parameters such as the mechanism deployment angle and measured lifting force data during robot lifting, the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system and the magnitude of the target lifting force to be applied by the robot can be accurately determined. This achieves adaptive gravity compensation under the condition of unknown mass characteristics of the moving part, providing data guidance information for subsequent research on deployable mechanisms for spacecraft. Attached Figure Description

[0038] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0039] Figure 1 A schematic diagram of the application system of the adaptive gravity compensation method for spacecraft deployment mechanism provided in the embodiments of this application;

[0040] Figure 2 A schematic flowchart of the adaptive gravity compensation method for spacecraft deployment mechanism provided in the embodiments of this application;

[0041] Figure 3 A schematic diagram illustrating the establishment of the antenna coordinate system and the moving part coordinate system provided in the embodiments of this application;

[0042] Figure 4 A flowchart illustrating the method for determining the ratio of the horizontal to vertical coordinates of the center of gravity of a moving part in the coordinate system of the moving part and the magnitude of the target lifting force to be applied by the robot, as provided in the embodiments of this application.

[0043] Figure 5 A schematic diagram of the adaptive gravity compensation device for spacecraft deployment mechanism provided in the embodiments of this application;

[0044] Figure 6 This is a schematic diagram of the structure of a computer control device provided in an embodiment of this application;

[0045] Explanation of reference numerals in the attached figures:

[0046] Robot-10; Lifting device-20; Force sensor-21; Lifting point-22; Deployment mechanism-30; Rotating shaft-31; Moving parts-32; Computer control device-40. Detailed Implementation

[0047] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] Understandably, with the rapid development of aerospace technology, deployable space structure technology is a method for realizing spacecraft structural configurations, especially for space structures with deployment and folding capabilities. After entering orbit, the space structure is released, deployed, and positioned from the fairing. This deployable mechanism can include: large space mesh antennas, space solar panels, deployable structures for deep space exploration, etc. To ensure the successful deployment of the space deployable mechanism in orbit, deployment experiments need to be conducted during the spacecraft's ground development phase. To ensure the effectiveness of the ground experiments, measures need to be taken during the experiments to unload the gravity of the moving parts of the mechanism, simulating the zero-gravity environment in orbit.

[0050] In ground deployment experiments of spacecraft deployable mechanisms, to avoid the influence of gravity, measures need to be taken to compensate for the weight of moving parts, thus counteracting the torque of the moving parts' weight on the axis of rotation and preventing additional torque from the component's weight on the axis of rotation. Currently, existing zero-gravity simulation methods for spacecraft mechanisms include suspension and air buoyancy methods. The suspension method involves constructing a truss structure resembling an elephant to arrange the suspension points following the mechanism, and using ropes to apply a vertical upward tension to the moving parts of the mechanism to balance the weight of the parts. This requires the suspension points to follow the movement of the mechanism and maintain a specified suspension tension. The air buoyancy method involves placing an air foot below the center of gravity of the moving part. The air foot moves on an air buoyancy platform, and by inflating and deflating compressed air in the air foot, an upward force is generated, which counteracts the weight of the moving part, achieving weight compensation for the component.

[0051] For gravity compensation in ground deployment experiments of spacecraft deployable mechanisms, robots can also be used. The robot's end effector lifts the movable parts of the deployment mechanism upwards. The magnitude of the lifting force can be calculated based on the weight and location of the movable parts, ensuring that the torque of the lifting force about the axis of rotation cancels out the torque of the part's weight about the axis of rotation, thus achieving gravity compensation during the deployment process. In applications using robotic lifting for gravity compensation, the magnitude of the robot's upward lifting force needs to be set to accurately compensate for the effects of gravity. Generally, the magnitude of the lifting force needs to be calculated based on the weight and location of the movable parts. However, in practical applications, the weight and center of gravity of the movable parts are often difficult to obtain accurately in advance, and the movable parts are already installed in the overall mechanism, making it impossible to remove them for individual mass characteristic testing. Therefore, in applications using robotic lifting for gravity compensation, how to obtain the lifting force applied by the robot when the mass characteristic data of the part to be compensated is unknown or inaccurate is a problem that urgently needs to be solved.

[0052] To address the aforementioned shortcomings, this application provides an adaptive gravity compensation method and system for spacecraft deployment mechanisms. Compared to existing technologies, this solution, when the deployment mechanism's axis of rotation is horizontal, can more comprehensively acquire the coordinates of the lifting point in the moving part's coordinate system, the rotation angle of the moving part's coordinate system in the rotation plane relative to the vertical direction, and the actual lifting force of the robot's end-effector lifting point, even when the mass characteristics of the moving part are unknown. Based on parameters such as the mechanism's deployment angle and measured lifting force data during robot lifting, the ratio of the horizontal to vertical coordinates of the moving part's center of gravity in the moving part's coordinate system and the magnitude of the target lifting force to be applied by the robot can be accurately determined. This achieves adaptive gravity compensation under conditions where the command characteristics of the moving part are unknown, providing data guidance for subsequent research on deployable spacecraft mechanisms.

[0053] Please see Figure 1 As shown, Figure 1 This is a schematic diagram of a system used for an adaptive gravity compensation method for a spacecraft deployment mechanism. The system includes a robot 10, a lifting device 20, a deployment mechanism 30, and a computer control unit 40. The lifting device 20 is connected to the deployment mechanism 30; the computer control unit 40 is electrically connected to the robot 10.

[0054] The lifting device 20 has a lifting point 22, at which a force sensor 21 is installed. The unfolding mechanism 30 includes a rotating shaft 31 and a moving part 32. The computer control device 40 can also be electrically connected to the force sensor 21.

[0055] The robot 10 is used to control the position and the magnitude of the force; the lifting device 20 is used to lift the moving parts of the deployment mechanism. The force sensor 21 is used to detect the magnitude of the lifting force. The computer control device 40 is used to acquire the rotation angle of the coordinate system of the moving parts of the deployment mechanism 30 in the rotation plane and the vertical direction, and to acquire the actual lifting force of the lifting point 22 at the end of the robot 10, when the robot 10 moves with the deployment mechanism 30; to acquire the coordinates of the lifting point 22 in the coordinate system of the moving parts; and based on the coordinates of the lifting point 22 in the coordinate system of the moving parts, the rotation angle of the coordinate system of the moving parts in the rotation plane and the vertical direction, and the actual lifting force of the lifting point 22 at the end of the robot 10, to determine the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part 32 in the coordinate system of the moving parts and the magnitude of the target lifting force to be applied by the robot 10, so as to perform adaptive gravity compensation.

[0056] For ease of understanding and explanation, the following will use... Figures 2 to 6 This application provides a detailed description of the adaptive gravity compensation method and system for spacecraft deployment mechanisms provided in its embodiments.

[0057] Figure 2 The diagram shown is a flowchart illustrating the adaptive gravity compensation method for a spacecraft deployment mechanism according to an embodiment of this application. This method can be executed by a computer control device. Figure 2 As shown, the method includes:

[0058] S101. When the robot follows the deployment mechanism, obtain the rotation angle of the coordinate system of the moving part of the deployment mechanism in the rotation plane and the vertical direction, and obtain the actual lifting force of the robot's end-effector lifting point.

[0059] It should be noted that the robot follows the deployment mechanism. During the robot's movement, the angle of rotation of the coordinate system of the moving parts of the deployment mechanism relative to the vertical direction within the rotation plane can be recorded. This angle can be two or more.

[0060] The actual lifting force at the robot's end effector is the force applied by the robot's end effector, which can be acquired by a force sensor. Specifically, the computer control device can send an information acquisition command to the force sensor, causing the force sensor to receive and respond to the command, acquire the actual lifting force corresponding to the robot's end effector, and send it to the computer control device, thus enabling the computer control device to acquire the actual lifting force at the robot's end effector.

[0061] In one embodiment, before obtaining the rotation angle of the movable component coordinate system of the deployment mechanism in the rotation plane and the vertical direction, the method further includes: establishing an antenna coordinate system, and establishing the movable component coordinate system based on the antenna coordinate system.

[0062] Specifically, in the process of establishing the antenna coordinate system, the center position of the rotation axis of the unfolding mechanism can be taken as the origin of the antenna coordinate system, the initial direction of the moving part of the unfolding mechanism can be taken as the direction of the vertical axis of the antenna coordinate system, and the direction of the moving part rotating 90° in the unfolding direction can be taken as the direction of the horizontal axis of the antenna coordinate system. Based on the origin of the antenna coordinate system, the direction of the vertical axis of the antenna coordinate system, and the direction of the horizontal axis of the antenna coordinate system, the direction of the vertical axis of the antenna coordinate system can be determined by the right-hand rule, and the antenna coordinate system can be constructed.

[0063] Please see Figure 3 As shown, in constructing the antenna coordinate system O A -X A Y A Z A During the process, the center position of the rotating shaft 31 of the unfolding mechanism can be taken as the origin O of the antenna coordinate system. A The initial orientation of the movable part 32 of the unfolding mechanism is the vertical axis Y of the antenna coordinate system. A If the initial direction is vertical, then the Y-axis of the antenna coordinate system... A The direction is vertical; and the direction in which the movable part 32 is rotated 90° in the unfolding direction is the horizontal axis X of the antenna coordinate system. A The direction is determined, and then the right-hand rule is used to determine the vertical axis Z of the antenna coordinate system. A The direction is determined to construct the antenna coordinates.

[0064] After constructing the antenna coordinate system O A -X A Y A Z A Then, the origin of the antenna coordinate system can be set as the origin O of the moving part coordinate system. M With the direction of the movable part 32 arm as the vertical axis Y of the movable part coordinate system. M The direction, with the vertical axis Z of the antenna coordinate system A The direction is the vertical axis Z of the moving part coordinate system. M The direction of the x-axis of the moving part coordinate system is determined using the right-hand rule, based on the origin of the moving part coordinate system, the direction of the vertical axis of the moving part coordinate system, and the direction of the vertical axis of the moving part coordinate system. M Construct the coordinate system O of the active component in the direction of the coordinate system. M -X M Y M Z M The coordinate system O of this moving part. M -X M Y M Z M The coordinates of the movable part 32 that are fixed to the movable part of the unfolding mechanism.

[0065] The aforementioned deployment mechanisms can be those that need to be deployed on a spacecraft after launch and orbit insertion. Examples include: large space mesh antennas, space solar panels, and deployable depth-sensing structures. Robots can include components such as robotic arms and bases.

[0066] In this embodiment, by obtaining the rotation angle of the coordinate system of the moving part of the deployment mechanism in the rotation plane and the vertical direction when the robot follows the deployment mechanism, and by obtaining the actual lifting force of the robot's end-effector lifting point, good data guidance information can be provided for subsequently determining the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the magnitude of the target lifting force. This facilitates the determination of the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the magnitude of the target lifting force based on more comprehensive information.

[0067] S102. Obtain the coordinates of the lifting point in the coordinate system of the moving part.

[0068] It should be noted that the coordinates of the lifting point in the moving part coordinate system can be determined based on the position of the lifting point after the moving part coordinate system has been established. Alternatively, they can be obtained through external devices or calculated in real time.

[0069] S103. Based on the coordinates of the lifting point in the moving part coordinate system, the rotation angle of the moving part coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot end-effector lifting point, determine the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the moving part coordinate system and the magnitude of the target lifting force to be applied to the robot, so as to perform adaptive gravity compensation.

[0070] As one possible approach, after determining the rotation angle of the moving part's coordinate system in the rotation plane relative to the vertical direction and the actual lifting force at the robot's end effector, this application embodiment also provides a specific implementation method for determining the ratio of the horizontal to vertical coordinates of the moving part's center of gravity in the moving part's coordinate system and the magnitude of the target lifting force to be applied by the robot. Please refer to [link to relevant documentation]. Figure 4 As shown, the method includes:

[0071] S201. Using the principle of torque balance, based on the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the moving part coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot's end-effector lifting point, a set of equations for the actual lifting force of the robot's end-effector lifting point is constructed.

[0072] S202. Solve the actual lifting force equations to obtain the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the moving part coordinate system and the magnitude of the target lifting force to be applied to the robot.

[0073] It should be noted that the rotation angle of the above-mentioned moving part coordinate system in the rotation plane and the vertical direction can be two or more, and the actual lifting force of the corresponding robot end-effector lifting point can also be two or more.

[0074] It should be noted that when the aforementioned coordinate system of the moving parts rotates in the plane of rotation with the vertical direction, and the actual lifting force at the robot's end effector is divided into two sets, the aforementioned set of actual lifting force equations includes a first set of actual lifting force equations and a second set of actual lifting force equations. The first set of actual lifting force equations is constructed based on the first set of coordinate system of the moving parts rotates in the plane of rotation with the vertical direction, and the corresponding actual lifting force at the robot's end effector; the second set of actual lifting force equations is constructed based on the second set of coordinate system of the moving parts rotates in the plane of rotation with the vertical direction, and the corresponding actual lifting force at the robot's end effector.

[0075] Specifically, during the robot's movement following the deployment mechanism, the rotation angle θ between the coordinate system of the moving parts of the mechanism and the vertical direction in the rotation plane is recorded within the angle that has already been rotated, and the actual lifting force F at the robot's end effector is also recorded. up Choose two different angles, and denote the chosen angles as θ. s θ e The corresponding lifting force is F. ups F upe F ups F upe The value can be obtained by force sensor measurement. Based on the principle of torque balance, the following set of equations for actual lifting force is obtained, which can be expressed by the following formula:

[0076]

[0077] Where G is the magnitude of the gravity of the moving part, x G y G Let G and x be the coordinates of the center of gravity of the moving part in its coordinate system. G y G All are unknown quantities. x up y up Let be the coordinates of the lifting point in the coordinate system of the moving part, which are known quantities.

[0078] In the process of solving the actual lifting force equations to obtain the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the moving part coordinate system and the magnitude of the target lifting force to be applied by the robot, the first actual lifting force equation and the second actual lifting force equation can be divided to obtain the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the moving part coordinate system. Based on the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the moving part coordinate system and the rotation angle, the magnitude of the target lifting force to be applied by the robot can be obtained.

[0079] Specifically, by dividing the two equations in the above actual lifting force equation set and eliminating G, we obtain the following ratio of the horizontal and vertical axes, which can be expressed by the following formula:

[0080]

[0081] Then, let:

[0082]

[0083] The value of k can be calculated from the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the coordinate system of the moving part in the rotation plane and the vertical direction, and the actual lifting force of the lifting point at the end of the robot.

[0084] Furthermore, x in the above actual lifting force equations can be... G Using k·y G Substitution yields:

[0085]

[0086] or:

[0087]

[0088] Then let: J = G·y G The value of J can be calculated from the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the coordinate system of the moving part in the rotation plane and the vertical direction, and the actual lifting force of the lifting point at the end of the robot.

[0089] After determining the value of J, the magnitude of the lifting force to be applied by the robot can be calculated based on the rotation angle and the ratio k of the horizontal and vertical coordinates of the center of gravity of the moving part in the moving part's coordinate system. Specifically, for the current rotation angle θ of the moving part, the target lifting force that the robot should apply can be calculated using the following formula:

[0090]

[0091] As an optional implementation, the ratios k and J of the horizontal and vertical coordinates of the centers of gravity of multiple moving parts in the moving part coordinate system can be obtained. Based on the rotation angle and the ratios k of the horizontal and vertical coordinates of the centers of gravity of multiple moving parts in the moving part coordinate system, the magnitude of the target lifting force to be applied to the robot can be calculated using the least squares method.

[0092] In this embodiment, the target lifting force to be applied to the robot is calculated by using the least squares method based on the rotation angle and the ratio of the horizontal and vertical coordinates of the center of gravity of multiple moving parts in the coordinate system of the moving parts. This makes the determined target lifting force to be applied to the robot more accurate.

[0093] The adaptive gravity compensation method and system for spacecraft deployment mechanisms provided in this application obtains the rotation angle of the coordinate system of the movable component of the deployment mechanism in the rotation plane and the vertical direction when the robot follows the movement of the deployment mechanism, as well as the actual lifting force of the robot's end-effector lifting point and the coordinates of the lifting point in the coordinate system of the movable component. Then, based on the coordinates of the lifting point in the coordinate system of the movable component, the rotation angle of the movable component coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot's end-effector lifting point, the ratio of the horizontal and vertical coordinates of the center of gravity of the movable component in the coordinate system of the movable component and the magnitude of the target lifting force to be applied by the robot are determined to perform adaptive gravity compensation. Compared with existing technologies, this technical solution, when the rotation axis of the deployment mechanism is in the horizontal direction, can more comprehensively obtain the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the moving part coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot's end-effector lifting point, even when the mass characteristics of the moving part are unknown. Based on parameters such as the mechanism deployment angle and measured lifting force data during robot lifting, the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system and the magnitude of the target lifting force to be applied by the robot can be accurately determined. This achieves adaptive gravity compensation under the condition of unknown command characteristics of the moving part, providing data guidance information for subsequent research on deployable mechanisms for spacecraft.

[0094] It should be noted that although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flowchart may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0095] on the other hand, Figure 5 This is a schematic diagram of an adaptive gravity compensation device for a spacecraft deployment mechanism, provided as an embodiment of this application. The device can be a computer-controlled device, such as… Figure 5 As shown, the device includes:

[0096] The first acquisition module 410 is used to acquire the rotation angle of the coordinate system of the moving part of the deployment mechanism in the rotation plane and the vertical direction, and to acquire the actual lifting force of the robot's end-effector lifting point when the robot follows the deployment mechanism.

[0097] The second acquisition module 420 is used to acquire the coordinates of the lifting point in the coordinate system of the moving part;

[0098] The determination module 430 is used to determine the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the moving part coordinate system and the magnitude of the target lifting force to be applied to the robot based on the coordinates of the lifting point in the moving part coordinate system, the rotation angle of the moving part coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot end lifting point, so as to perform adaptive gravity compensation.

[0099] In one embodiment, the determining module 430 is specifically used for:

[0100] Using the principle of torque balance, based on the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the moving part coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot's end-effector lifting point, a set of equations for the actual lifting force of the robot's end-effector lifting point is constructed.

[0101] Solving the actual lifting force equations yields the ratio of the horizontal to vertical coordinates of the center of gravity of the moving part in the moving part coordinate system and the magnitude of the target lifting force to be applied to the robot.

[0102] In one embodiment, the determining module 430 is further configured to:

[0103] The first actual lifting force equation and the second actual lifting force equation are compared to obtain the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part.

[0104] The magnitude of the target lifting force to be applied to the robot is obtained by the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the rotation angle.

[0105] In one embodiment, the determining module 430 is further configured to:

[0106] The magnitude of the lifting force to be applied to the robot is calculated based on the rotation angle and the ratio of the horizontal to vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part.

[0107] In one embodiment, the determining module 430 is further configured to:

[0108] Obtain the ratio of the x and y coordinates of the center of gravity of multiple moving parts in the coordinate system of the moving parts;

[0109] Based on the rotation angle and the ratio of the horizontal and vertical coordinates of the center of gravity of multiple moving parts in the coordinate system of the moving parts, the least squares method is used to calculate the magnitude of the target lifting force to be applied to the robot.

[0110] In one embodiment, the above-described apparatus is further configured to:

[0111] Establish an antenna coordinate system;

[0112] Establish the coordinate system of the moving parts based on the antenna coordinate system.

[0113] In one embodiment, the above-described apparatus is further configured to:

[0114] The center position of the rotation axis of the unfolding mechanism is taken as the origin of the antenna coordinate system, the initial direction of the moving part of the unfolding mechanism is taken as the direction of the vertical axis of the antenna coordinate system, and the direction of the moving part rotating 90° in the unfolding direction is taken as the direction of the horizontal axis of the antenna coordinate system.

[0115] Based on the origin of the antenna coordinate system, the direction of the vertical axis of the antenna coordinate system, and the direction of the horizontal axis of the antenna coordinate system, the direction of the vertical axis of the antenna coordinate system is determined by the right-hand rule, and the antenna coordinate system is constructed.

[0116] In one embodiment, the above-described apparatus is further configured to:

[0117] With the origin of the antenna coordinate system as the origin of the moving part coordinate system, and the direction of the arm of the moving part as the direction of the vertical axis of the moving part coordinate system, the direction of the vertical axis of the antenna coordinate system is taken as the direction of the vertical axis of the moving part coordinate system.

[0118] Based on the origin of the moving part coordinate system, the direction of the vertical axis of the moving part coordinate system, and the direction of the vertical axis of the moving part coordinate system, the direction of the horizontal axis of the moving part coordinate system is determined by the right-hand rule, and the moving part coordinate system is constructed.

[0119] In one embodiment, the first acquisition module 410 is specifically used for:

[0120] Send an information acquisition command to the force sensor; the information acquisition command is used to instruct the acquisition of the actual lifting force corresponding to the lifting point at the robot's end effector.

[0121] The actual lifting force at the robot's end effector is received from the force sensor.

[0122] Compared with the prior art, the adaptive gravity compensation device for spacecraft deployment mechanisms provided in this application embodiment, when the rotation axis of the deployment mechanism is in the horizontal direction, can more comprehensively obtain the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the moving part coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot end-effector lifting point under the condition that the mass characteristics of the moving part are unknown. Based on parameters such as the mechanism deployment angle and the measured lifting force data during robot lifting, the device can accurately determine the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the magnitude of the target lifting force to be applied by the robot. This realizes adaptive gravity compensation under the condition that the mass characteristics of the moving part are unknown, and provides data guidance information for subsequent research on deployable spacecraft mechanisms.

[0123] On the other hand, the computer control device provided in the embodiments of this application includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the adaptive gravity compensation method for the spacecraft deployment mechanism as described above.

[0124] The following is for reference. Figure 6 , Figure 6 This is a schematic diagram of the structure of a computer control device according to an embodiment of this application.

[0125] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage portion 603 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the system 600. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0126] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0127] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a machine-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 603, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs the functions defined above in the system of this application.

[0128] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium, a computer-readable medium, or any combination of the two. A computer-readable medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than a computer-readable medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0129] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0130] The units or modules described in the embodiments of this application can be implemented in software or hardware. The described units or modules can also be housed in a processor; for example, it can be described as: a processor including: a first acquisition module, a second acquisition module, and a determination module. The names of these units or modules do not necessarily limit the unit or module itself. For example, the first acquisition module can also be described as "used to acquire the rotation angle of the coordinate system of the moving part of the deployment mechanism in the rotation plane relative to the vertical direction, and to acquire the actual lifting force of the robot's end effector lifting point, when the robot follows the deployment mechanism's movement."

[0131] In another aspect, this application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device. The computer-readable medium stores one or more programs that, when used by one or more processors, execute the adaptive gravity compensation method for spacecraft deployment mechanisms described in this application:

[0132] When the robot follows the deployment mechanism, the rotation angle of the coordinate system of the moving part of the deployment mechanism in the rotation plane and the vertical direction is obtained, as well as the actual lifting force of the robot's end-effector lifting point is obtained.

[0133] Obtain the coordinates of the lifting point in the coordinate system of the moving part;

[0134] Based on the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the coordinate system of the moving part in the rotation plane and the vertical direction, and the actual lifting force of the lifting point of the robot end effector, the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the magnitude of the target lifting force to be applied by the robot are determined in order to perform adaptive gravity compensation.

[0135] In summary, the adaptive gravity compensation method and system for spacecraft deployment mechanisms provided in this application obtains the rotation angle of the coordinate system of the movable component of the deployment mechanism in the rotation plane and the vertical direction when the robot follows the movement of the deployment mechanism, as well as the actual lifting force of the robot's end-effector lifting point and the coordinates of the lifting point in the coordinate system of the movable component. Then, based on the coordinates of the lifting point in the coordinate system of the movable component, the rotation angle of the movable component coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot's end-effector lifting point, the ratio of the horizontal and vertical coordinates of the center of gravity of the movable component in the coordinate system of the movable component and the magnitude of the target lifting force to be applied by the robot are determined to perform adaptive gravity compensation. Compared with existing technologies, this technical solution, when the rotation axis of the deployment mechanism is in the horizontal direction, can more comprehensively obtain the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the moving part coordinate system in the rotation plane and the vertical direction, and the actual lifting force of the robot's end-effector lifting point, even when the mass characteristics of the moving part are unknown. Based on parameters such as the mechanism deployment angle and measured lifting force data during robot lifting, the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system and the magnitude of the target lifting force to be applied by the robot can be accurately determined. This achieves adaptive gravity compensation under the condition of unknown mass characteristics of the moving part, providing data guidance information for subsequent research on deployable mechanisms for spacecraft.

[0136] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An adaptive gravity compensation method for a spacecraft deployment mechanism, characterized in that, The method includes: When the robot follows the deployment mechanism, the rotation angle of the coordinate system of the moving part of the deployment mechanism in the rotation plane and the vertical direction is obtained, as well as the actual lifting force of the robot's end-effector lifting point is obtained. Obtain the coordinates of the lifting point in the coordinate system of the moving part; Based on the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the coordinate system of the moving part in the rotation plane and the vertical direction, and the actual lifting force of the lifting point of the robot end effector, the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the magnitude of the target lifting force to be applied by the robot are determined in order to perform adaptive gravity compensation. Based on the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the moving part's coordinate system in the rotation plane relative to the vertical direction, and the actual lifting force of the robot's end effector lifting point, the ratio of the horizontal to vertical coordinates of the moving part's center of gravity in the coordinate system of the moving part and the magnitude of the target lifting force to be applied by the robot are determined, including: Using the principle of torque balance, based on the coordinates of the lifting point in the coordinate system of the moving part, the rotation angle of the coordinate system of the moving part in the rotation plane and the vertical direction, and the actual lifting force of the lifting point at the end of the robot, a set of equations for the actual lifting force of the lifting point at the end of the robot is constructed. Solving the actual lifting force equations yields the ratio of the horizontal to vertical coordinates of the center of gravity of the moving part in the moving part coordinate system and the magnitude of the target lifting force to be applied by the robot.

2. The method according to claim 1, characterized in that, The actual lifting force equation set includes a first actual lifting force equation and a second actual lifting force equation. Solving the actual lifting force equations yields the ratio of the horizontal to vertical coordinates of the center of gravity of the moving part in the moving part's coordinate system and the magnitude of the target lifting force to be applied by the robot, including: The first actual lifting force equation and the second actual lifting force equation are compared to obtain the ratio of the horizontal and vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part. The magnitude of the target lifting force to be applied to the robot is obtained based on the ratio of the horizontal to the vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the rotation angle.

3. The method according to claim 2, characterized in that, Based on the ratio of the horizontal to the vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part and the rotation angle, the magnitude of the target lifting force to be applied by the robot is obtained, including: Based on the rotation angle and the ratio of the horizontal to the vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part, the magnitude of the target lifting force to be applied to the robot is calculated.

4. The method according to claim 2, characterized in that, Based on the rotation angle and the ratio of the horizontal to vertical coordinates of the center of gravity of the moving part in the coordinate system of the moving part, the magnitude of the target lifting force to be applied by the robot is calculated, including: Obtain multiple sets of the ratio values ​​of the horizontal and vertical coordinates of the center of gravity of the moving parts in the coordinate system of the moving parts; Based on the rotation angle and the ratio of the horizontal and vertical coordinates of the centers of gravity of the multiple moving parts in the coordinate system of the moving parts, the magnitude of the target lifting force to be applied to the robot is calculated using the least squares method.

5. The method according to claim 1, characterized in that, Before obtaining the rotation angle of the coordinate system of the movable part of the unfolding mechanism in the rotation plane relative to the vertical direction, the method further includes: Establish an antenna coordinate system; Based on the antenna coordinate system, establish the coordinate system of the moving parts.

6. The method according to claim 5, characterized in that, Establishing the antenna coordinate system includes: The center position of the rotation axis of the unfolding mechanism is taken as the origin of the antenna coordinate system, the initial direction of the movable part of the unfolding mechanism is taken as the direction of the longitudinal axis of the antenna coordinate system, and the direction of the movable part rotating 90° in the unfolding direction is taken as the direction of the transverse axis of the antenna coordinate system. The direction of the vertical axis of the antenna coordinate system is determined by the right-hand rule based on the origin of the antenna coordinate system, the direction of the vertical axis of the antenna coordinate system, and the direction of the horizontal axis of the antenna coordinate system, thus constructing the antenna coordinate system.

7. The method according to claim 6, characterized in that, Based on the antenna coordinate system, establish the coordinate system of the moving part, including: The origin of the antenna coordinate system is taken as the origin of the movable component coordinate system, the direction of the movable component arm is taken as the direction of the vertical axis of the movable component coordinate system, and the direction of the vertical axis of the antenna coordinate system is taken as the direction of the vertical axis of the movable component coordinate system. Based on the origin of the movable part coordinate system, the direction of the vertical axis of the movable part coordinate system, and the direction of the vertical axis of the movable part coordinate system, the direction of the horizontal axis of the movable part coordinate system is determined using the right-hand rule, and the movable part coordinate system is constructed.

8. The method according to claim 1, characterized in that, Obtaining the actual lifting force at the robot's end effector lifting point includes: Send an information acquisition command to the force sensor; the information acquisition command is used to instruct the acquisition of the actual lifting force corresponding to the lifting point at the robot's end effector. The robot receives the actual lifting force at its end effector point from the force sensor.

9. An adaptive gravity compensation system for a spacecraft deployment mechanism, the system comprising a robot, a lifting device, a deployment mechanism, and a computer control device, wherein the lifting device is mounted on the end of the robot and is connected in cooperation with the deployment mechanism; the lifting device has a lifting point; and the computer control device is electrically connected to the robot. The lifting device has a lifting point, and a force sensor is installed at the lifting point. The unfolding mechanism includes a rotating shaft and movable parts. The computer control device is used to acquire the rotation angle of the coordinate system of the movable part of the deployment mechanism in the rotation plane and the vertical direction, and to acquire the actual lifting force of the robot's end-effector lifting point when the robot follows the deployment mechanism; to acquire the coordinates of the lifting point in the coordinate system of the movable part; and to determine the ratio of the horizontal and vertical coordinates of the center of gravity of the movable part in the coordinate system of the movable part and the magnitude of the target lifting force to be applied to the robot, based on the coordinates of the lifting point in the coordinate system of the movable part, the rotation angle of the coordinate system of the movable part in the rotation plane and the vertical direction, and the actual lifting force of the robot's end-effector lifting point, so as to perform adaptive gravity compensation.

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