A force-position modeling and multi-source perception method for a space flexible manipulator

Abstract

The present application provides a force-position modeling and multi-source perception method, electronic device and storage medium of a space flexible manipulator, and relates to the field of manipulator technology. The force-position modeling and multi-source perception method of a space flexible manipulator provided by the present application includes establishing a dynamic friction model between a driving rope and a via; solving the dynamic friction model to obtain the solution results of the sliding distance and rope tension of the driving rope; obtaining a force-position perception model based on the solution results of the driving rope and the Newton-Euler method; solving the force-position perception model based on the data obtained from the direct sensor to obtain the end operating force, the end posture and the data not obtained in the whole arm shape. The present application introduces the influence of dynamic friction into the force-position modeling by establishing a dynamic friction model between the driving rope and the via, thereby improving the modeling accuracy of the force-position model. By establishing a force-position perception model of a space flexible manipulator, multi-source perception of the space flexible manipulator is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and in particular to a force-position modeling and multi-source perception method, electronic device and storage medium of a space flexible robotic arm. Background Art

[0002] The level of perception is an important bottleneck restricting the technical level of space manipulators. Perception refers to the ability of manipulators to achieve perception similar to human vision, hearing, touch and other sensory functions through sensors and calculations. Reliable, accurate and complete perception is the prerequisite for the manipulator to achieve autonomous behavior. Perception is the basic ability of the manipulator. The manipulator can successfully perform related space tasks only with good perception.

[0003] like Figure 1 The figure shows a space flexible manipulator. This space flexible manipulator adopts a large number of consistent links and joints to obtain a continuous and lightweight appearance configuration. Combined with the rope drive system, it has extremely high intrinsic flexibility and space operation capability. Due to the limitation of its slender shape, the number and types of sensors that can be installed on the space flexible manipulator are very limited, and the perception capability is insufficient. Moreover, the space flexible manipulator usually works in highly dynamic, uncertain, and small working space scenes. Its own limited perception capability usually cannot provide sufficient and real-time perception, which will cause the manipulator to fail to provide efficient and high-quality space services, and even cause the space mission to fail. Therefore, it is necessary to improve the perception capability of the space flexible manipulator.

[0004] The current method of using indirect perception to improve the perception ability of space flexible manipulators has errors. The errors of existing indirect perception are mainly caused by the errors of the system mechanical model. If you want to accurately estimate the contact force, you need to establish an accurate mechanical model of the flexible manipulator system. Most of the existing research on the mechanical model of indirect perception of space flexible manipulators ignores the friction between the rope and the via, or replaces it with a simplified static friction model, which directly affects the modeling accuracy. Moreover, the existing indirect perception methods are generally limited to force perception, and cannot achieve multi-source perception of the end operating force, the whole arm shape, and the end posture. Summary of the invention

[0005] Based on this, the present application provides a force-position modeling and multi-source perception method, electronic device and storage medium of a space flexible robotic arm, which can take into account the influence of the viscous slip friction of the rope in the space flexible robotic arm, improve the modeling accuracy, and establish a force-position perception model to realize multi-source perception of force-position.

[0006] The present application provides a force-position modeling and multi-source perception method for a space flexible manipulator, including:

[0007] Establish a dynamic friction model between the driving rope and the through hole in the space flexible manipulator;

[0008] The dynamic friction model is solved to obtain the sliding distance of the driving rope and the rope tension, and it is determined whether the driving rope is in a sliding state or a stagnant state relative to the through hole;

[0009] According to the solution of the driving rope, the force-position sensing model of the space flexible manipulator is obtained based on the Newton-Euler method.

[0010] Acquire data of one of the end operation force, end posture and whole arm shape of the space flexible manipulator from a direct sensor of the space flexible manipulator;

[0011] Based on the data obtained from direct sensors, the force-position perception model is solved to obtain the end operating force, end posture and data not obtained in the whole arm shape of the spatial flexible robotic arm.

[0012] Optionally, the vias separate the drive rope into a plurality of rope units,

[0013] The dynamic friction model between the driving rope and the through hole in the space flexible manipulator is established including:

[0014] Based on the initial parameters of the space flexible manipulator, an expression of the rope tension of multiple rope units at the current time node relative to the previous time node is established;

[0015] The winch friction model is applied to the contact points between the driving rope and the through hole, so as to obtain the conditional inequalities between the rope sliding distance of the driving rope at multiple contact points and the rope tension of multiple rope units.

[0016] Optionally, establishing a dynamic friction model between a driving rope and a through hole in a space flexible manipulator further includes:

[0017] The strain of the driving rope at the current time node relative to the previous time node is determined to obtain a simplified strain measurement method of the driving rope. The expression of the rope tension is changed by the strain measurement method, thereby simplifying the expression of the rope tension.

[0018] Optionally, solving the dynamic friction model to obtain the solution results of the sliding distance and the rope tension of the driving rope, and judging whether the driving rope is in a sliding state or a stagnant state relative to the through hole includes:

[0019] The conditional inequality between the rope sliding distance and the rope tension of multiple rope units is transformed into a linear complementary equation by using the linear complementary method, and the rope sliding distance is obtained by solving the linear complementary equation;

[0020] The rope friction force of the driving rope at each hole and the free rope length of multiple rope units at the current time node are determined by the rope sliding distance, and then the rope tension of multiple rope units in the driving rope is obtained;

[0021] The rope sliding distance is used to determine whether the driving rope is in a sliding state or a stagnant state relative to the through hole.

[0022] Optionally, judging whether the driving rope is in a sliding state or a stagnant state relative to the through hole according to the rope sliding distance includes:

[0023] When the rope sliding distance is greater than 0, it is determined that the driving rope slides toward one side of the through hole, and the driving rope is in a sliding state;

[0024] When the rope sliding distance is less than 0, it is determined that the driving rope slides to the other side of the through hole, and the driving rope is in a sliding state;

[0025] When the value of the rope sliding distance is equal to 0, it is determined that the driving rope is in a stagnant state relative to the through hole.

[0026] Alternatively, the linear complementary equation is:

[0027]

[0028] in, is a variable composed of the rope slip distance of the driving rope itself and its absolute value, is the variable obtained by superimposing the rope tension of the rope units on both sides of the hole, is the parameter matrix formed by the axial stiffness of the driving rope and the tension attenuation coefficient of the hole, is a parameter vector formed by the rope axial stiffness, the through-hole tension attenuation coefficient and the rope length of the driving rope.

[0029] Optionally, according to the solution result of the driving rope and based on the Newton-Euler method, a force-position sensing model of the space flexible manipulator is obtained, including:

[0030] According to the solution of the driving rope, the torque of two mutually perpendicular active axes in multiple joints of the space flexible manipulator is taken based on the Newton-Euler method from the outside to the inside of the space flexible manipulator, and the torque balance equation of multiple joints is obtained;

[0031] Based on the torque balance equations of multiple joints, the static balance equation of the spatial flexible robotic arm is obtained, and then the force-position perception model is obtained.

[0032] Optionally, the equations of the force-position perception model include:

[0033]

[0034] in, is the generalized coordinate formed by each joint angle, representing the whole arm shape of the space flexible manipulator. is the initial configuration of the space flexible manipulator, which is used as the initial value of the iteration. is the external force at the end of the space flexible manipulator, is the rope torque vector, is the rope tension of the drive rope, related to the current configuration, is the torque vector formed by the end operating force.

[0035] Optionally, based on the data obtained from the direct sensor, the force-position perception model is solved to obtain the end operation force, end posture and whole arm shape of the space flexible manipulator. The data not obtained include:

[0036] When the data directly obtained by the sensor is the end-operation force, the end-operation force is used to perceive the end-position and the whole arm shape based on the force-position perception model;

[0037] When the data directly obtained by the sensor is the end posture, the end operation force and the whole arm shape are sensed from the end posture based on the force-position sensing model;

[0038] When the data directly acquired by the sensor is the whole arm shape, the end operation force and end posture are sensed by the whole arm shape based on the force-position perception model.

[0039] Optionally, the force-position modeling and multi-source perception method of the space flexible manipulator also includes:

[0040] The real-time state of the space flexible robotic arm is sensed and monitored based on the obtained end operating force, end posture and whole arm shape, and the movement of the space flexible robotic arm is controlled and adjusted.

[0041] The present application also provides an electronic device, including:

[0042] Processor; and

[0043] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the above method.

[0044] The present application also provides a non-transitory computer-readable storage medium on which computer-readable instructions are stored. When the instructions are executed by a processor, the processor executes the above method.

[0045] The present application provides a force-position type modeling and multi-source perception method, electronic device and storage medium for a space flexible robotic arm. By establishing a dynamic friction model between a driving rope and a via hole, the dynamic friction force generated by the sliding of the driving rope relative to the via hole in the space flexible robotic arm is considered to affect the force-position type modeling result, so as to introduce it into the force-position type modeling, thereby improving the modeling accuracy of the force-position type model and further improving the perception effect.

[0046] By establishing a force-position perception model of the space flexible robotic arm and the relationship between the end operating force, end position and whole arm shape of the flexible robotic arm, non-in-situ perception of the space flexible robotic arm and multi-source perception of the end operating force, end position and whole arm shape are realized, reducing the number of sensors required to be installed on the space flexible robotic arm, while improving the perception ability and working level of the space flexible robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by the present application.

[0048] Figure 1 It is a schematic diagram of the structure of a space flexible robotic arm;

[0049] Figure 2 It is a flowchart of this application;

[0050] Figure 3 It is a schematic diagram of the principle of the force-position perception model of the present application;

[0051] Figure 4 It is a flowchart of step S101 in this application;

[0052] Figure 5 It is a schematic diagram of the structure in which the driving rope is divided into a plurality of rope units by vias in the present application;

[0053] Figure 6 is a schematic diagram of the sliding distance of the driving rope in this application;

[0054] Figure 7 is a flow chart of step S102;

[0055] Figure 8 is a schematic diagram of the relationship between the rope friction force and the speed of the driving rope in this application;

[0056] Fig. 9 It is a flowchart of step S123 in this application;

[0057] Fig.10 It is a flowchart of step S103 in this application;

[0058] Fig.11 is the force diagram of a single joint in this application;

[0059] Fig.12 It is a flowchart of step S104 in this application;

[0060] Fig.13 It is a schematic diagram of the Newton-Euler method iteration when the end position and the whole arm shape are sensed by the end operating force in the present application;

[0061] Fig.14 is a schematic diagram of simulation results under the first working condition in this application;

[0062] Fig.15 is a schematic diagram of simulation results under the second working condition in this application;

[0063] Fig.16 It is an electronic device provided by this application. DETAILED DESCRIPTION

[0064] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. In the figures, the same figures show the same or similar parts, and thus their repeated description will be omitted.

[0065] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0066] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices or operations may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0067] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0068] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0069] The specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0070] like Figure 1 As shown, the space flexible manipulator generally includes a drive box, a drive rope, a joint and a rigid body component. The surface of each rigid body component has a through hole. Two adjacent rigid body components are connected by a joint. One end of the drive rope is connected to the drive box, and the other end passes through the through hole and is connected to the rigid body component, and the movement of the rigid body component is controlled by the drive rope.

[0071] refer to Figure 2-3 The present application provides a method for force-position modeling and multi-source perception of a space flexible robotic arm, including steps S101-S105.

[0072] In step S101, a dynamic friction model between the driving rope and the via in the space flexible manipulator is established. By establishing the dynamic friction model between the driving rope and the via, the influence of the dynamic friction force generated by the sliding of the driving rope relative to the via in the space flexible manipulator on the force-position modeling result is considered, so as to introduce it into the force-position modeling, improve the modeling accuracy of the force-position model, and further improve the perception effect.

[0073] In step S102, the dynamic friction model is solved to obtain the sliding distance of the driving rope and the rope tension, and it is determined whether the driving rope is in a sliding state or a stagnant state relative to the through hole.

[0074] In step S103, according to the solution result of the driving rope and based on the Newton-Euler method, a force-position sensing model of the space flexible manipulator is obtained.

[0075] In step S104, data of one of the end operating force, end posture and whole arm shape of the space flexible manipulator is obtained from a direct sensor of the space flexible manipulator;

[0076] In step S105, Figure 3 As shown in the figure, based on the data obtained from the direct sensor, the force-position perception model is solved to obtain the end-operation force, end-position and whole-arm shape of the space flexible manipulator that are not obtained. After the solution is completed, the perception configuration of the whole-arm shape of the space flexible manipulator obtained by the solution can be compared with its actual configuration to verify the correctness of the result.

[0077] By establishing a force-position perception model of the space flexible robotic arm and the relationship between the end operating force, end position and whole arm shape of the space flexible robotic arm, non-in-situ perception of the space flexible robotic arm and multi-source perception of the end operating force, end position and whole arm shape are realized, the number of sensors required to be installed on the space flexible robotic arm is reduced, and at the same time the perception ability and working level of the space flexible robotic arm are improved.

[0078] refer to Figure 4-6 As an optional implementation, step S101 includes sub-steps S111-S112.

[0079] like Figure 5 As shown in the figure, the drive rope is divided into multiple rope units by the via hole, and the entire drive rope is composed of multiple rope units connected in series. From the figure, it can be seen that the winch friction model is

[0080]

[0081] in, is the tension attenuation coefficient of the ropes on both sides of the capstan (i.e., through the hole), is a natural constant, is the friction coefficient, is the contact angle of the contact area between the rope and the winch. There is a contact point between the driving rope and the through hole, and it is necessary to determine whether the driving rope is in a sliding state or a stagnant state relative to the through hole. If the driving rope is in a sliding state, it is necessary to further determine which side of the contact point it slides to. Due to the existence of friction, the rope tension of the rope units of the driving rope on both sides of the contact point is not equal. Therefore, it is necessary to establish an expression for the rope tension of the driving rope based on the current time node relative to the previous time node, so as to obtain the rope tension of each rope unit in which the driving rope is divided into multiple rope units by the through hole.

[0082] In sub-step S111 , an expression of the rope tension of multiple rope units at the current time node relative to the previous time node is established based on the initial parameters of the spatial flexible manipulator.

[0083] Drive rope i Rope tension of segment rope unit The expression is

[0084] (1)

[0085] in,

[0086] (2)

[0087] s i To drive the rope in the current time node state relative to the previous time node state of the undeformed state through the hole i The sliding distance, s i-1 To drive the rope relative to the hole i- 1 sliding distance, is the generalized coordinates of all rigid parts in the space flexible manipulator at the current time node, is the generalized coordinate of the rigid body component in the space flexible manipulator at the previous time node, Δt is the difference between the current time node and the previous time node. Calculate the rope length of the drive rope at all times ,pass The first time point (i.e. the previous time point) i Free rope length of rope segment and the drive rope relative to the via i Sliding distance s i , calculate the current time Drive rope i Free rope length of rope segment The schematic diagram of the sliding distance of the driving rope is as follows: Figure 6 As shown, the current time node is shown t Relative to the sliding distance of multiple rope units in the driving rope in the undeformed state ( s 1. s 2… s n-1 ), at the previous time node t-Δt The free rope length of the next multiple rope units ( l 1,0 , l 2,0 … l n,0 ) and the current time node t The rope length of the next multiple rope units ( l 1,f , l 2,f …l n,f ).

[0088] In sub-step S112, the winch friction model Applied to the contact point between the driving rope and the through hole, and considering that the driving rope can slide to any side or be stagnant at the contact point of the through hole, the conditional inequality between the rope sliding distance of the driving rope at multiple contact points and the rope tension of multiple rope units is obtained as follows:

[0089] (3)

[0090] in, Indicates that the rope is driven relative to the first i The contact point of the first via faces the i Slide one side of the via, Indicates that the rope is driven relative to the first i The contact point of the first via faces the i Slide the other side of the via, Indicates that the contact point is in a stagnant state relative to the rope, is the tension attenuation coefficient of the driving rope, T i To drive the rope i Rope tension of segment rope unit, T i+1 To drive the rope i +1 rope section per unit rope tension.

[0091] refer to Figure 4 As an optional implementation, step S101 also includes sub-step S113.

[0092] In sub-step S113, the strain of the driving rope at the current time node relative to the previous time node is determined to obtain a simplified strain measurement method of the driving rope, and the expression of the rope tension is changed by the strain measurement method, thereby simplifying the expression of the rope tension.

[0093] Simplified rope tension expression (1) gives the simplified rope tension The expression is

[0094]

[0095] in is the elastic modulus of the rope, is the cross-sectional area of ​​the rope. This simplification is conducive to subsequent efficient calculations and can ensure that the axial stiffness of each rope unit (the stiffness of the rope unit along its length) is known in the current analysis step. There is no need to introduce the unknown sliding distance of the driving rope at the contact point into the axial stiffness to avoid the complex nonlinear relationship between the rope tension and the sliding distance of the driving rope. The solution speed of the dynamic friction model is improved, thereby improving the real-time performance of force-position modeling and the perception effect.

[0096] refer to Figure 7 and Figure 8 As an optional implementation, step S102 includes sub-steps S121-S123.

[0097] In sub-step S121, the conditional inequality (3) between the rope sliding distance and the rope tension of the plurality of rope units is converted into a linear complementary equation by using a linear complementary method, and the rope sliding distance is obtained by solving the linear complementary equation.

[0098] Introduce the following set of intermediate variables

[0099]

[0100] in, , It is a variable that is a combination of the rope sliding distance and its absolute value of the driving rope at the current hole. At the same time, a set of intermediate variables are introduced.

[0101]

[0102] in, , is the variable obtained by superimposing the rope tension of the rope units on both sides of the current through hole. Traverse all through holes, , The vectors are formed , , , The vectors are formed , . And form the following complementary equation

[0103] (4)

[0104] in, , is the vector composed of the sliding distance of the driving rope itself and its absolute value, , is the vector obtained by superimposing the rope tension of the rope units on both sides of each via, is the parameter matrix formed by the axial stiffness of the driving rope and the tension attenuation coefficient of the hole, is a parameter vector formed by the rope axial stiffness, the through-hole tension attenuation coefficient and the rope length of the driving rope.

[0105] The Lemke complementary axis algorithm can be used to obtain the solution of the complementary equation (4), and then the sliding distance of the driving rope can be obtained. ,but , is a complementary feasible solution of equation (4). Otherwise, an artificial variable is introduced Transform equation (4) into a new linear complementary equation

[0106] (5)

[0107] in, . Introduction The advantage is that it is easier to obtain the initial complementary basic feasible solution of formula (5)

[0108]

[0109] It should be noted that the Lemke algorithm refers to starting from an initial complementary basic feasible solution and finding a new complementary basic feasible solution through the pivot method (i.e., the principal element elimination method). This process is continuously iterated, striving to make the variables Become a non-basic variable, or obtain a criterion that shows that the feasible domain of the problem is unbounded.

[0110] In sub-step S122, the rope friction force of the driving rope at each through hole and the free rope length of multiple rope units at the current time node are determined by the rope sliding distance, thereby obtaining the rope tension of multiple rope units in the driving rope.

[0111] The direction of the rope sliding distance affects the magnitude of the rope friction force. When the rope sliding distance and the time elapsed at the current time node relative to the previous time node are known, the speed of the driving rope can be obtained. v t The relationship between rope friction and speed is as follows: Figure 8 As shown, the rope friction force generated by the driving rope at the contact point of each through hole is determined F f In the figure, μ is the coefficient of kinetic friction, F N The free rope length of multiple rope units at the current time node can be obtained by adding the free rope length of multiple rope units at the previous time node to the rope sliding distance. The free rope length of multiple rope units at the previous time node is substituted into the rope tension expression to obtain the rope tension of multiple rope units in the driving rope.

[0112] In sub-step S123, it is determined whether the driving rope is in a sliding state or a stagnant state relative to the through hole according to the rope sliding distance.

[0113] refer to Figure 7 and Fig. 9 As an optional implementation, sub-step S123 includes sub-steps S1231-S1233.

[0114] In sub-step S1231, when the value of the rope sliding distance is greater than 0, it is determined that the driving rope slides toward one side of the through hole, and it is determined that the driving rope is in a sliding state.

[0115] In sub-step S1232, when the value of the rope sliding distance is less than 0, it is determined that the driving rope slides to the other side of the through hole, and it is determined that the driving rope is in a sliding state.

[0116] In sub-step S1233, when the value of the rope sliding distance is 0, it is determined that the driving rope is in a stagnant state relative to the through hole.

[0117] refer to Fig. 9 As an optional implementation, step 103 includes sub-steps S131-S132.

[0118] In sub-step S131, according to the solution of the driving rope, it is iterated from the outside to the inside of the space flexible manipulator based on the Newton-Euler method, such as Fig.11 As shown, two mutually perpendicular movable axes (such as Fig.11 Axis shown i 1 and axis i 2) Take the moment and get the moment balance equation of the joint:

[0119] (6)

[0120] in, and For rigid body parts i The rope tension in the driving rope at both ends, Number the rope (1, 2, 3), Express i 1 axis moment operation, is the restraint force at the hinge, is the restraint moment at the hinge, () indicates i 2-axis moment operation, M i1 for i 1. Moment about the axis, M i2 for iThe torque in the 2-axis direction. By analogy, the space flexible manipulator has n For multiple joints with degrees of freedom, you can list n The torque balance equations for multiple joints correspond to each other.

[0121] In sub-step S132, based on the torque balance equations of multiple joints, the static balance equation of the spatial flexible robotic arm is obtained, and then the force-position perception model is obtained.

[0122] The force-position sensing model is the static equilibrium equation of the space flexible manipulator. The static equilibrium equation is:

[0123] (7)

[0124] in, The generalized coordinates formed by each joint angle (rotation angle of the joint) represent the overall arm shape of the space flexible manipulator. is the initial configuration of the space flexible manipulator, which is used as the initial value of the iteration. is the external force at the end of the space flexible manipulator, is the rope torque vector, is the rope tension of the drive rope, related to the current configuration, is the torque vector formed by the end operating force.

[0125] If the gravity of the rigid body is not considered, equation (7) can be simplified as

[0126] (8)

[0127] The end position of the space flexible manipulator can be obtained through the kinematic relationship

[0128] (9)

[0129] in, is the system homogeneous transformation matrix obtained by multiplying the homogeneous transformation matrices of each joint, is the position vector of the end of the robot arm, is the position vector of the root of the robot arm.

[0130] refer to Figure 2 , Figure 3 and Fig.12 As an optional implementation, step S105 includes sub-steps S151-S153.

[0131] In sub-step S151, when the data directly acquired by the sensor is the end operation force, the end position and the whole arm shape are sensed by the end operation force based on the force-position type perception model.

[0132] When friction is not considered, the end operating force and the initial configuration are substituted into equation (8) and the generalized coordinates can be obtained by solving equation (8) through Newton iteration: (i.e. the perceived whole arm shape), and then the end position can be obtained through the kinematic relationship. The schematic diagram based on the Newton-Euler method iteration is as follows Fig.13 As shown, represents a nonlinear function, to solve the equation , you can give an initial value near the solution of the equation , obtained by Newton's iteration method , and iterate sequentially to obtain , until a solution that satisfies the given accuracy is obtained. When friction is considered, the rope tension vector in equations (8) and (7) is It needs to be obtained through the linear complementary method.

[0133] In sub-step S152, when the data directly acquired by the sensor is the end posture, the end operation force and the whole arm shape are sensed from the end posture based on the force-position perception model.

[0134] At this time, the constraint equation corresponding to the end position coordinates is supplemented

[0135] (10)

[0136] in, is the position coordinate of the known end position. Formula (10) contains n There are three equations in equation (8). Combining equation (10) with equation (8) yields n +3 equations, solved by Newton's iterative method n +3 equations, the generalized coordinates and end-operating force of the space flexible robotic arm can be obtained.

[0137] In sub-step S153, when the data directly acquired by the sensor is the whole arm shape, the end operation force and the end posture are sensed by the whole arm shape based on the force-position perception model.

[0138] The end position can be obtained through the kinematic relationship (9), and the end posture can be given by the whole arm shape. The end operating force can be obtained through the three equations in the static equilibrium equation (taking the 2 norm of the first two equations and the remaining equations except the first two equations).

[0139] The force-position modeling and multi-source perception method of a spatial flexible robotic arm provided in the present application also includes step S106.

[0140] In step S106, the real-time state of the space flexible manipulator is sensed and monitored based on the obtained end operating force, end position and whole arm shape, and the action of the space flexible manipulator is controlled and adjusted. The space flexible manipulator can obtain higher perception ability, thereby improving the success rate of completing actions such as large tolerance soft docking and high-precision fine operation. At the same time, it can reduce the risk of damage to the target due to excessive operating force between the target and the target, enhance the ability to coordinate operations with other manipulators, and reduce the risk of collision between the space flexible manipulator and other manipulators. Thereby, the space flexible manipulator can better complete operations such as capturing targets, on-orbit maintenance, and on-orbit refueling. For example, the end operating force is adjusted according to the perceived end operating force to avoid letting the end operating force of the space flexible manipulator exceed the safety value.

[0141] The perception results of the force-position perception model of this application are verified.

[0142] For example, in the first working condition, the end position and the whole arm shape are sensed by the end operation force. (Unit: N), given the expected value of the arm shape (as shown in Table 1) and use it as the initial value based on the Newton-Euler method iteration, considering the friction between the driving rope and the through hole, the end position and the whole arm shape of the space flexible manipulator can be obtained by using the above force-position sensing model. The calculated joint angles of the whole arm shape of the space flexible manipulator are shown in Table 1, and the end position coordinates are obtained as follows: (Unit: m), the end position is determined by the angles of each joint.

[0143] Table 1 Whole arm shape results of the force-position perception model (end position and whole arm shape are perceived by the end operation force)

[0144]

[0145] The intuitive display of the simulation results under the first working condition is as follows Fig.14 As shown, when the rope stiffness is large enough, the simulated configuration (black) is close to the expected configuration (white), which proves the correctness of the force-position perception model.

[0146] For example, in the second working condition, the end operating force and the whole arm shape are sensed by the end position. (unit: m) is taken as a known quantity, and the friction between the rope and the through-hole is considered. The end operating force and the whole arm shape of the spatial flexible manipulator can be obtained by using the force-position sensing model.

[0147] The end operating force obtained for (unit N), which is very close to the value in Case 1. The calculated joint angles of the configuration As shown in Table 2, the expected value The maximum error is only 0.17%, and the calculated joint angle Same value as in Case 1.

[0148] Table 2 Simulation results of the force-position perception model (perceiving the end-operation force and the whole arm shape by the end-position)

[0149]

[0150] The intuitive display of the simulation results under the second working condition is as follows Fig.15 As shown, the simulated configuration (black) is close to the expected configuration (white), proving the correctness of the force-position perception model.

[0151] For example, in the third working condition, the end operating force and end posture are sensed by the entire arm shape.

[0152] The whole arm shape in the first and second working conditions As known quantities, the end operation force and end position can be obtained by using the force-position sensing algorithm. The end position coordinates obtained are (Unit: m), which is the same as the value in Conditions 1 and 2. The end position is given by the entire arm shape.

[0153] The end operating force obtained (unit: N), which is the same as the values ​​in Conditions 1 and 2, proving the correctness of the perception model.

[0154] Fig.16 An electronic device according to an exemplary embodiment of the present application is shown. Fig.12 The electronic device 200 according to this embodiment of the present application is described. Fig.12 The electronic device 200 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0155] like Fig.12 As shown, the electronic device 200 is in the form of a general computing device. The components of the electronic device 200 may include, but are not limited to: at least one processing unit 210, at least one storage unit 220, a bus 230 connecting different system components (including the storage unit 220 and the processing unit 210), a display unit 240, etc.

[0156] The storage unit stores program codes, which can be executed by the processing unit 210, so that the processing unit 210 executes the methods described in this specification according to various exemplary embodiments of the present application. For example, the processing unit 210 can execute the following: Figure 1 The method shown in .

[0157] The storage unit 220 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 2201 and / or a cache storage unit 2202 , and may further include a read-only storage unit (ROM) 2203 .

[0158] The storage unit 220 may also include a program / utility 2204 having a set (at least one) of program modules 2205, such program modules 2205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0159] Bus 230 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0160] The electronic device 200 may also communicate with one or more external devices 300 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 200, and / or may communicate with any device that enables the electronic device 200 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 250. In addition, the electronic device 200 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 260. The network adapter 260 may communicate with other modules of the electronic device 200 via a bus 230. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0161] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software, or by combining software with necessary hardware. The technical solution according to the implementation method of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the above method according to the implementation method of the present application.

[0162] The software product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0163] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program codes contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0164] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0165] The computer-readable medium carries one or more programs. When the one or more programs are executed by a device, the computer-readable medium implements the aforementioned functions.

[0166] Those skilled in the art will appreciate that the above modules can be distributed in the device according to the description of the embodiment, or can be changed accordingly and only used in one or more devices different from the embodiment. The modules of the above embodiments can be combined into one module, or further divided into multiple sub-modules.

[0167] According to an embodiment of the present application, a computer program is provided, including a computer program or an instruction. When the computer program or the instruction is executed by a processor, the method described above can be executed.

[0168] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation on the present application.

Claims

1. A force-position modeling and multi-source perception method for a space flexible manipulator, characterized in that: include: Establish a dynamic friction model between the driving rope and the through hole in the space flexible manipulator; Solving the dynamic friction model to obtain the sliding distance and rope tension of the driving rope, and determining whether the driving rope is in a sliding state or a stagnant state relative to the through hole; According to the solution result of the driving rope, a force-position sensing model of the space flexible manipulator is obtained based on the Newton-Euler method; Acquire data of one of the end operation force, end posture and whole arm shape of the space flexible manipulator from a direct sensor of the space flexible manipulator; Solving the force-position sensing model based on the data obtained from the direct sensor to obtain the end operating force, the end posture and the data not obtained in the whole arm shape of the spatial flexible manipulator; The vias divide the drive rope into a plurality of rope units. The dynamic friction model between the driving rope and the through hole in the space flexible manipulator is established including: Establishing expressions for the rope tensions of the plurality of rope units at a current time node relative to a previous time node based on initial parameters of the spatial flexible manipulator; Applying a winch friction model to the contact points between the drive rope and the through hole, thereby obtaining conditional inequalities between rope sliding distances of the drive rope at the plurality of contact points and rope tensions of the plurality of rope units; Solving the dynamic friction model to obtain the sliding distance and rope tension of the driving rope, and judging whether the driving rope is in a sliding state or a stagnant state relative to the through hole comprises: The conditional inequality between the rope sliding distance and the rope tension of the plurality of rope units is converted into a linear complementary equation by using a linear complementary method, and the rope sliding distance is obtained by solving the linear complementary equation; Determine the rope friction force of the driving rope at each of the through holes and the free rope lengths of the multiple rope units at the current time node through the rope sliding distance, and then obtain the rope tension of the multiple rope units in the driving rope; Judging whether the driving rope is in a sliding state or a stagnant state relative to the through hole by the rope sliding distance; The linear complementary equation is: in, is a variable composed of the rope sliding distance of the driving rope itself and its absolute value, is the variable obtained by superimposing the rope tension of the rope units on both sides of the through hole, is a parameter matrix formed by the rope axial stiffness and the through-hole tension attenuation coefficient of the drive rope, is a parameter vector formed by the rope axial stiffness, the through-hole tension attenuation coefficient and the rope length of the drive rope.

2. The method according to claim 1, characterized in that The dynamic friction model between the driving rope and the through hole in the space flexible manipulator is also established: The strain of the driving rope at the current time node relative to the previous time node is determined to obtain a simplified strain measurement method of the driving rope, and the expression of the rope tension is changed by the strain measurement method, thereby simplifying the expression of the rope tension.

3. The method according to claim 1, characterized in that Judging whether the driving rope is in a sliding state or a stagnant state relative to the through hole by the rope sliding distance includes: When the rope sliding distance is greater than 0, it is determined that the driving rope slides toward one side of the through hole and the driving rope is in a sliding state; When the rope sliding distance is less than 0, it is determined that the driving rope slides toward the other side of the through hole, and the driving rope is in a sliding state; When the value of the rope sliding distance is equal to 0, it is determined that the driving rope is in a stagnant state relative to the through hole.

4. The method according to claim 1, characterized in that According to the solution result of the driving rope and based on the Newton-Euler method, the force-position sensing model of the space flexible manipulator is obtained, including: According to the solution result of the driving rope and based on the Newton-Euler method, iterate from the outside to the inside of the space flexible manipulator, take the torque of two mutually perpendicular active axes in the multiple joints of the space flexible manipulator, and obtain the torque balance equation of the multiple joints; Based on the torque balance equations of the multiple joints, the static balance equation of the spatial flexible robotic arm is obtained, and then the force-position perception model is obtained.

5. The method according to claim 1, characterized in that: The equations of the force-position perception model include: in, is the generalized coordinate formed by each joint angle, representing the whole arm shape of the space flexible manipulator, is the initial configuration of the space flexible manipulator, serving as the initial value of the iteration, is the external force at the end of the space flexible manipulator, is the rope torque vector, is the rope tension of the drive rope, related to the current configuration, is the torque vector generated on the end operating force.

6. The method according to claim 1, characterized in that Based on the data obtained from the direct sensor, the force-position sensing model is solved to obtain the end operating force, end posture and whole arm shape of the space flexible manipulator. The data not obtained include: In a case where the data acquired by the direct sensor is the end operation force, based on the force-position sensing model, the end position and the whole arm shape are sensed by the end operation force; In a case where the data acquired by the direct sensor is the end position, based on the force-position sensing model, the end operation force and the whole arm shape are sensed from the end position; In the case where the data acquired by the direct sensor is the whole arm shape, the end operation force and the end posture are sensed by the whole arm shape based on the force-position sensing model.

7. The method according to claim 1, characterized in that Also includes: The real-time state of the space flexible robotic arm is sensed and monitored based on the obtained end operating force, the end position and the whole arm shape, and the movement of the space flexible robotic arm is controlled and adjusted.

8. An electronic device comprising: processor; as well as A memory storing a computer program, which, when executed by the processor, enables the processor to perform the method according to any one of claims 1 to 7.

9. A non-transitory computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor, causes the processor to execute the method according to any one of claims 1 to 7.

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