Control method for mechanical arm capture test on air-floating tables

Abstract

The invention discloses a control method for a mechanical arm capture test on air-floating tables, which comprises a mechanical arm capture process based on an inverse kinematics iteration planning and a force closed-loop capture control process, wherein the mechanical arm capture process based on the inverse kinematics iteration planning can be changed according to the relative distance and the relative posture of the two continuously-updated air-floating tables; all joint target angles of two multi-degree of freedom mechanical arms are iteratively updated; and tracks are planned on line till the tracks are reliably connected, so that the adaptive ability of mechanical arm capture is improved, and the capture redundancy range of a target characteristic part is enlarged; and after an effective signal is detected by a touch sensor, the mechanical arm force closed-loop control process is switched by a joint position and speed closed loop to prevent the hard touch of the mechanical arms to the air-floating tables from causing bouncing. Through the control method, the reliability of mechanical arm capture connection can be ensured.

Description

technical field [0001] The invention belongs to the technical field of spacecraft ground physics tests, and relates to a method for controlling a mechanical arm of an air-floor platform capture test. Background technique [0002] With the development of my country's aerospace industry, due to technical reasons such as fuel exhaustion, space satellites have increased, and the contradiction between orbital resources and new space mission requirements has become more and more prominent. Therefore, space on-orbit service has become an important direction for the future development of space industry. Since the failed satellites generally cannot provide a cooperative docking attitude, and there is no cooperative docking mechanism, the space capture and operation control based on the multi-degree-of-freedom manipulator is a good choice. In view of the high complexity of hardware and software algorithms, it is necessary to carry out experimental verification of relevant key technolo...

AI Technical Summary

Problems solved by technology

The above two points will cause a large deviation in the relative distance and relative attitude of the two air-floating platforms compared with the nominal state. If the method of planning the trajectory of the robotic arm on the ground at one time is used, the reliable capture of the target air-floating platform cannot be completed. Therefore, High requirements are placed on the adaptability of the capture robot arm

Since the air bearing table is a floating base and the end of the capture mechanism adopts a clamping connection method, after the mechanical arm contacts the target air bearing table, if the radial direction is not controlled, there is not enough friction and it is easy to separate

In addition, since the movement of the arms cannot be completely synchronized, one arm may contact the target air bearing platform, bounce off or repeatedly collide, which greatly affects the reliability of capture

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