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Variable geometry truss modeling positioning method

A positioning method and variable geometry technology, applied in geometric CAD, special data processing applications, instruments, etc., can solve problems such as inaccurate operation accuracy and ultra-close tracking loss

Active Publication Date: 2016-10-26
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this system based on the variable geometry truss structure has the problem of inaccurate operation. It may be installed on a satellite, which may lead to the loss of ultra-close tracking of the cooperative target by the space manipulator operating platform.

Method used

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  • Variable geometry truss modeling positioning method

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Embodiment Construction

[0079] The embodiments of the present invention are described in detail below: the present embodiment is implemented under the premise of the technical solution of the present invention, and detailed implementation and specific operation process are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0080] Such as figure 1 As shown, the precise positioning method based on the variable geometry truss differential kinematics model provided in this embodiment is actually tested on two aspects of data through MATLAB simulation data and semi-physical simulation image data. The implementation steps are as follows:

[0081] Step 1, firstly initialize the input parameters respectively.

[0082] Using the main parameter θ 0 , L 0 , X 0 , θ 0 Indicates that the corresponding angle parameter set Θ={θ 1 ,θ 2 ,θ 3} initial state, L 0 Indicates that the length parameter set L={L corresponding to the active rod 1 ,...

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Abstract

The invention discloses a model positioning method based on variable geometry truss differential kinematics. The method comprises the following steps: 1, initializing parameters, namely, theta0, L0 and X0 in a range of an operating space; 2, designing a length differential variable dL of a driving lever; 3, acquiring a differential mapping expression (as shown in the description) according to a constraint equation of a variable geometry truss structure; 4, calculating a differential affine (as shown in the description) depending on an angle, and obtaining an affine (as shown in the description) related to a node Q in a similar way; 5, determining a differential mapping (as shown in the description) in the center of a tail end of a structure according to a differential chain rule; 6, extracting a Jacobian matrix of a closing speed, establishing a differential kinematics equation of the variable geometry truss structure, and performing discretization on a differential kinematics system of the structure; 7, performing node measuring process tracking with reference to data provided by a measuring device of a mechanical arm platform, and obtaining a measurement module of the variable geometry truss structure; and 8, setting a clearance error function and integrating a differential module and the measurement module of the structure to achieve precise positioning of target expected pose error cancellation.

Description

technical field [0001] The invention belongs to the field of space-based space technology, and in particular relates to a model-based positioning method of a variable geometry truss. Background technique [0002] The space platform manipulator has the inherent characteristics of multi-body and large flexibility. In the space-based background, a closed-form velocity Jacobian matrix can be obtained by using the intrinsic differential mapping relationship of the truss variable geometry truss structure. The transfer from kinematics to differential kinematics is realized through the differential kinematics input-output relationship of variable geometry trusses, and the differential kinematics modeling method of a class of triple octahedral variable geometry trusses is discussed. Refer to the data provided by the measuring device of the manipulator platform to track the measurement node process, obtain the measurement model of the variable geometry truss structure, and set the ga...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/17G06F30/367
Inventor 敬忠良徐启敏胡士强杨永胜
Owner SHANGHAI JIAO TONG UNIV
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