Floating base space robot dynamics control method, system, equipment and medium

Abstract

The invention relates to the technical field of space robots, and particularly discloses a floating-base space robot dynamics control method, system, equipment and medium, and the method comprises the steps: introducing a robot interference item, a parameter perturbation item and an uncertain item into an original dynamics model used for controlling a floating-base space robot, and generating a target dynamics model; generating a target vector based on the current state feedback value of the target floating base space robot according to the target dynamic model and a corresponding target dynamic controller; wherein the target vector is used for representing a vector formed by the current control force and the current control torque; according to the target vector, the current control quantity of the target floating base space robot is determined, and the target floating base space robot is controlled. According to the method, the interference item, the parameter perturbation item and the uncertainty item of the floating-based space robot are estimated at the same time, smooth control output can be generated in a self-adaptive mode, and the dynamics control robustness of the floating-based space robot is further improved.

Description

Background Art

[0002] For floating space robots, dynamic control refers to the process of calculating the control force and torque in real time based on the state feedback value, with the robot's speed and acceleration as the controlled variables. If the control input of the actuator is to be obtained, the mapping relationship between the control force and torque and the controller needs to be solved. Existing technologies such as proportional-integral and differential control, sliding mode control, robust control and neural network control, when dealing with the motion control problem of floating space robots, only consider one of the problems of anti-interference, linearization of nonlinear systems or vibration suppression in a limited way, and cannot be well applied to the real working environment to make the floating control robot have good environmental adaptability.

[0003] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a floating-based space robot dynamics control method, system, equipment and medium.

[0005] In a first aspect, the present invention provides a method for dynamic control of a floating-based space robot, and the technical solution of the method is as follows:

[0006] In the original dynamics model used to control the floating space robot, robot interference terms, parameter perturbation terms and uncertainty terms are introduced to generate the target dynamics model;

[0007] Based on the current state feedback value of the target floating base space robot, and according to the target dynamics model and the corresponding target dynamics controller, a target vector of the target floating base space robot is generated; wherein the target vector is a vector used to characterize the current manipulation force and the current manipulation torque;

[0008] According to the target vector, a current control amount of the target floating-based space robot is determined, and according to the current control amount, the target floating-based space robot is controlled.

[0009] The beneficial effects of the floating-based space robot dynamics control method of the present invention are as follows:

[0010] The method of the present invention can adaptively generate smooth control output by simultaneously estimating the robot interference term, parameter perturbation term and uncertainty term of the floating-based space robot, and also improves the robustness of the dynamic control of the floating-based space robot.

[0011] On the basis of the above scheme, the floating-based space robot dynamics control method of the present invention can also be improved as follows.

[0012] In an optional manner, the target dynamic model is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, W is the uncertainty term, f(x) represents the robot interference term and the parameter perturbation term, τ is the target vector, τ=[XY ZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment; x is the current state feedback value, x = [uvwpqr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

[0013] In an optional manner, the structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, τ ad is the adaptive control quantity, τ m =-K m x,K m is the feedback gain.

[0014] In an optional manner, the target dynamics controller includes: a state prediction equation, an adaptive law equation and a control law equation; the state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value, the adaptive law equation is used to estimate the robot interference term, the parameter perturbation term and the uncertainty term, and the control law equation is used to calculate the adaptive control quantity.

[0015] In a second aspect, the present invention provides a floating-based space robot dynamics control system, the technical solution of which is as follows:

[0016] Includes: building module, generating module and controlling module;

[0017] The construction module is used to: introduce robot interference terms, parameter perturbation terms and uncertainty terms into an original dynamics model for controlling a floating-based space robot, and generate a target dynamics model;

[0018] The generating module is used to generate a target vector of the target floating base space robot based on the current state feedback value of the target floating base space robot and according to the target dynamics model and the corresponding target dynamics controller; wherein the target vector is a vector used to represent the current manipulation force and the current manipulation torque;

[0019] The control module is used to determine the current control amount of the target floating-based space robot according to the target vector, and control the target floating-based space robot according to the current control amount.

[0020] The beneficial effects of the floating-based space robot dynamics control system of the present invention are as follows:

[0021] The system of the present invention can adaptively generate smooth control output by simultaneously estimating the robot interference term, parameter perturbation term and uncertainty term of the floating-based space robot, and also improves the robustness of the dynamic control of the floating-based space robot.

[0022] On the basis of the above scheme, the dynamic control system of a floating-based space robot of the present invention can also be improved as follows.

[0023] In an optional manner, the target dynamic model is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, W is the uncertainty term, f(x) represents the robot interference term and the parameter perturbation term, τ is the target vector, τ=[XY ZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment; x is the current state feedback value, x = [uvwpqr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

[0024] In an optional manner, the structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, τ ad is the adaptive control quantity, τ m =-K m x,K mis the feedback gain.

[0025] In an optional manner, the target dynamics controller includes: a state prediction equation, an adaptive law equation and a control law equation; the state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value, the adaptive law equation is used to estimate the robot interference term, the parameter perturbation term and the uncertainty term, and the control law equation is used to calculate the adaptive control amount. In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0026] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the dynamic control method of the floating-based space robot of the present invention are realized.

[0027] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0028] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the floating-based space robot dynamics control method of the present invention.

[0029] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0031] Figure 1 A schematic flow chart of an embodiment of a floating-based space robot dynamics control method of the present invention;

[0032] Figure 2 is the structural diagram of the target dynamics controller;

[0033] Figure 3 It is the principle diagram of Proj operator;

[0034] Figure 4 This is one of the simulation schematics of the dynamic control of a floating space robot;

[0035] Figure 5 This is the second simulation diagram of the dynamic control of a floating space robot;

[0036] Figure 6 This is the third simulation diagram of the dynamic control of the floating space robot;

[0037] Figure 7 It is a structural schematic diagram of an embodiment of a floating-based space robot dynamics control system of the present invention;

[0038] Figure 8 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0039] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0040] Figure 1 A flow chart of an embodiment of a floating-based space robot dynamics control method provided by the present invention is shown, and the floating-based space robot dynamics control method can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the floating-based space robot dynamics control method by calling computer-readable instructions stored in a memory through a processor. Figure 1 As shown, the following steps are included:

[0041] S1. In the original dynamic model used to control the floating space robot, robot interference terms, parameter perturbation terms and uncertainty terms are introduced to generate a target dynamic model.

[0042] A floating space robot is a space robot whose base is in a floating state and is not constrained by external fixtures. The characteristics of a floating space robot make it more flexible and adaptable when performing tasks.

[0043] The original dynamic model is: the general form of the dynamic equation of the floating space robot, the expression of this equation is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, τ is the target vector, τ = [XYZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment.

[0044] The general form of the dynamic equation is transformed into the standard state space equation, which is expressed as:

[0045]

[0046] Among them, f(x) represents the robot interference term and the parameter perturbation term, and f(x) is a unified description of the nonlinear part, environmental disturbance and parameter perturbation in the dynamic equation.

[0047] Taking into account the uncertainty of the propulsion system corresponding to the floating space robot, the efficiency parameter matrix W of the control input is introduced into the state space equation to describe the uncertainty term, and the target dynamic model is obtained: x is the current state feedback value, x=[uvwpqr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

[0048] S2. Based on the current state feedback value of the target floating base space robot and according to the target dynamics model and the corresponding target dynamics controller, generate a target vector of the target floating base space robot.

[0049] Among them, Figure 2 As shown, the target dynamics controller includes but is not limited to: state prediction equation, adaptive law equation and control law equation. The state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value x. The adaptive law equation is used to estimate the robot interference term, parameter perturbation term and uncertainty term (the parameters to be estimated corresponding to the robot interference term, parameter perturbation term and uncertainty term) ) is estimated, and the control law equation is used to calculate the adaptive control quantity. The target vector is a vector used to characterize the current control force and the current control torque. The structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, which is used to ensure the stability of the inner loop system and make it have the desired closed-loop dynamic characteristics; τ ad is the adaptive control quantity used to offset the uncertainty in the system; τ m =-K m x,Km is the feedback gain.

[0050] τ m =-K m Substituting x into the target dynamics model, we get: Among them, A m =A-BK m , g(x)=(1-w)K m x+f(x). Choose a suitable K m , which can make A m is a Hurwitz matrix, let a1 and a2 are designed to be adjustable control parameters, and both are positive real numbers, from which we can get:

[0051] The floating space robot satisfies the following assumptions: ① The unknown control efficiency parameter is bounded; ② g(x) is bounded when x = 0; ③ The partial derivative of g(x) is semi-globally uniformly bounded. There exist unknown piecewise continuous differentiable functions μ(t) and σ(t), such that: g(x) = μ(t)‖x‖ ∞ +σ(t); t is the system time. Set g(x)=μ(t)‖x‖ ∞ +σ(t) The linearization description of the robot's nonlinear dynamics equation is obtained as follows: Therefore, the state prediction equation can be designed as: in, is the predicted value of the current state feedback, for The derivative of is the predicted value corresponding to w, is the predicted value corresponding to μ(t), is the predicted value corresponding to σ(t).

[0052] make Then the error equation of the target dynamics controller can be written as: for To derive the adaptive rate, define the Lyapunov function in the following form: Γ>0 and P=P T >0, P is the weight matrix. To ensure The adaptive law equation can be designed as:

[0053]

[0054]

[0055] like Figure 3As shown, Proj is a projection operator that can limit the estimated parameters to their upper and lower limits. Define a continuous smooth convex function f θ :

[0056]

[0057] Among them, θ max is the norm upper bound of vector θ, ∈ θ >0 is the projection tolerance range. Proj(θ,y) is defined as follows:

[0058]

[0059] The Proj operator makes the parameters to be estimated It can be updated quickly, but is limited to its upper and lower bounds to prevent the system from diverging.

[0060] Adaptive control quantity τ ad The Laplace equation τ ad (s) is:

[0061]

[0062] Among them, x d is the desired input of the target dynamics controller, K g is the feedforward filter gain, which is used to eliminate the zero steady-state error of the output response. g is a constant value, and K f is the adaptive feedback gain; D(s) is the strictly regular transfer function, which can ensure that the closed-loop system filter C(s) = wK f D(s)(1+wK f D(s) -1 Strictly regular stable. Let D(s) = s -1 , we can get the adaptive control quantity u ad Incremental form (τ ad The derivative of is:

[0063]

[0064] The target dynamics controller designed according to the above derivation can handle the nonlinear part, unmodeled part and environmental disturbance of the target dynamics model, while ensuring the adaptability and robustness of the target dynamics model.

[0065] S3. Determine a current control amount of the target floating-based space robot according to the target vector, and control the target floating-based space robot according to the current control amount.

[0066] Among them, there is a mapping relationship between the vector representing the maneuvering force and torque and the control amount, and the current control amount can be directly determined according to the mapping relationship between the two and the target vector. In this embodiment, the mapping relationship between the vector and the control amount can be determined by the pseudo-inverse method. An actuator is provided in the target floating base space robot, and the actuator controls the target floating base space robot according to the current control amount by transmitting the current control amount to the actuator. The specific control principle is the existing technology and will not be elaborated here.

[0067] It should be noted that if Figure 4 As shown, after the floating-based space robot grabs the bag, the overall mass and center of mass of the robot will change. In the simulation environment, the simulation is performed through the parameters of the inertia matrix in the target dynamics model. After the mass and center of mass of the floating-based space robot change, that is, when there is a parameter perturbation, the state of the floating-based space robot is still stabilized near the target value, which has higher accuracy than the general method. The floating-based space robot dynamics control method of this embodiment can reflect better parameter perturbation adaptability. Figure 5 As shown, the fan has multiple different gears, and when the fan is running, the nozzle output fluctuates. In the simulation environment, the simulation is performed through the parameters of the control efficiency matrix in the target dynamics model. In the case of fluctuations in the nozzle output of the floating-based space robot, that is, there is uncertainty, the state of the floating-based space robot is still stabilized near the target value, which has higher accuracy than the general method. The floating-based space robot dynamics control method of this embodiment can reflect better uncertainty resistance. Figure 6 As shown, the robot will be disturbed by air flow, harmful force of the nozzle or artificial disturbance. In the simulation environment, the interference term is introduced into the target dynamics model for simulation. When the floating-based space robot is disturbed by external disturbances, that is, when there is unknown interference, the state of the floating-based space robot is still stabilized near the target value, which has higher accuracy than the general method. The floating-based space robot dynamics control method of this embodiment can reflect better anti-interference ability.

[0068] The technical solution of this embodiment can adaptively generate smooth control output by simultaneously estimating the robot interference term, parameter perturbation term and uncertainty term of the floating-based space robot, and also improves the robustness of the dynamic control of the floating-based space robot.

[0069] Figure 7 FIG. 2 is a schematic diagram showing a structure of an embodiment of a floating-based space robot dynamics control system 200 provided by the present invention. Figure 7 As shown, the system 200 includes: a construction module 210, a generation module 220 and a control module 230;

[0070] The construction module 210 is used to: introduce robot interference terms, parameter perturbation terms and uncertainty terms into the original dynamics model for controlling the floating-based space robot to generate a target dynamics model;

[0071] The generating module 220 is used to generate a target vector of the target floating-based space robot based on the current state feedback value of the target floating-based space robot and according to the target dynamics model and the corresponding target dynamics controller; wherein the target vector is a vector used to represent the current manipulation force and the current manipulation torque;

[0072] The control module 230 is used to determine the current control amount of the target floating-based space robot according to the target vector, and control the target floating-based space robot according to the current control amount.

[0073] In an optional manner, the target dynamic model is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, W is the uncertainty term, f(x) represents the robot interference term and the parameter perturbation term, τ is the target vector, τ=[XY ZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment; x is the current state feedback value, x = [uvwpqr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

[0074] In an optional manner, the structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, τ ad is the adaptive control quantity, τ m =-K m x,K m is the feedback gain.

[0075] In an optional manner, the target dynamics controller includes: a state prediction equation, an adaptive law equation and a control law equation; the state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value, the adaptive law equation is used to estimate the robot interference term, the parameter perturbation term and the uncertainty term, and the control law equation is used to calculate the adaptive control quantity.

[0076] It should be noted that the beneficial effects of the floating-based space robot dynamics control system provided in the above embodiment are the same as the beneficial effects of the floating-based space robot dynamics control method, which will not be described in detail here. In addition, when the system provided in the above embodiment realizes its functions, it only takes the division of the above functional modules as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0077] Among them, the floating-based space robot dynamics control system of the present invention can be a computer program (including program code) running in a computer device. For example, the floating-based space robot dynamics control system of the present invention is an application software that can be used to execute the corresponding steps in the floating-based space robot dynamics control method of the present invention.

[0078] In some embodiments, the floating-based space robot dynamics control system of the present invention can be implemented in a combination of software and hardware. As an example, the floating-based space robot dynamics control system of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the floating-based space robot dynamics control method of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs) or other electronic components.

[0079] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The name of a module does not limit the module itself in some cases.

[0080] An electronic device according to an embodiment of the present invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the above-mentioned floating-based space robot dynamics control methods is implemented. That is to say, an electronic device according to an embodiment of the present invention may include but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the floating-based space robot dynamics control method shown in any embodiment of the present invention by calling the computer program.

[0081] In an alternative embodiment, an electronic device is provided, such as Figure 8 As shown, Figure 8 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0082] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0083] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8In the figure, only one thick line is used to represent the bus 4002, but this does not mean that there is only one bus or one type of bus.

[0084] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0085] The memory 4003 is used to store application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0086] Among them, the electronic device can also be a terminal device, and the terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart car device.

[0087] It should be noted that Figure 8 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0088] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned floating-based space robot dynamics control methods is implemented.

[0089] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0090] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the above-mentioned floating-based space robot dynamics control method.

[0091] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0092] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0093] The computer-readable storage medium provided by the embodiment of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer 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 thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or component.

[0094] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0095] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

[0096] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0097] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0098] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for dynamic control of a floating space robot, characterized in that: include: In the original dynamics model used to control the floating space robot, robot interference terms, parameter perturbation terms and uncertainty terms are introduced to generate the target dynamics model; Based on the current state feedback value of the target floating base space robot, and according to the target dynamics model and the corresponding target dynamics controller, a target vector of the target floating base space robot is generated; wherein the target vector is a vector used to characterize the current manipulation force and the current manipulation torque; According to the target vector, a current control amount of the target floating-based space robot is determined, and according to the current control amount, the target floating-based space robot is controlled.

2. The method for dynamic control of a floating-based space robot according to claim 1, characterized in that: The target dynamics model is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, W is the uncertainty term, f(x) represents the robot interference term and the parameter perturbation term, τ is the target vector, τ=[XYZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment; x is the current state feedback value, x = [uvwp qr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

3. The method for dynamic control of a floating-based space robot according to claim 2, characterized in that: The structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, τ ad is the adaptive control quantity, τ m =-K m x,K m is the feedback gain.

4. The method for dynamic control of a floating-based space robot according to claim 3, characterized in that: The target dynamics controller includes: a state prediction equation, an adaptive law equation and a control law equation; the state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value, the adaptive law equation is used to estimate the robot interference term, the parameter perturbation term and the uncertainty term, and the control law equation is used to calculate the adaptive control quantity.

5. A dynamic control system for a floating space robot, characterized in that: include: Building modules, generating modules and controlling modules; The construction module is used to: introduce robot interference terms, parameter perturbation terms and uncertainty terms into an original dynamics model for controlling a floating-based space robot, and generate a target dynamics model; The generating module is used to generate a target vector of the target floating base space robot based on the current state feedback value of the target floating base space robot and according to the target dynamics model and the corresponding target dynamics controller; wherein the target vector is a vector used to represent the current manipulation force and the current manipulation torque; The control module is used to determine the current control amount of the target floating-based space robot according to the target vector, and control the target floating-based space robot according to the current control amount.

6. The floating-based space robot dynamics control system according to claim 5 is characterized in that: The target dynamics model is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, W is the uncertainty term, f(x) represents the robot interference term and the parameter perturbation term, τ is the target vector, τ=[XYZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment; x is the current state feedback value, x = [uvwp qr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

7. The floating-based space robot dynamics control system according to claim 6 is characterized in that: The structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, τ ad is the adaptive control quantity, τ m =-K m x,K m is the feedback gain.

8. The floating-based space robot dynamics control system according to claim 7 is characterized in that: The target dynamics controller includes: a state prediction equation, an adaptive law equation and a control law equation; the state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value, the adaptive law equation is used to estimate the robot interference term, the parameter perturbation term and the uncertainty term, and the control law equation is used to calculate the adaptive control quantity.

9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the floating-based space robot dynamics control method as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the floating-based space robot dynamics control method as described in any one of claims 1 to 4.

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