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A base disturbance calculation method for a free-floating robot in space

A calculation method and robot technology, applied in the direction of manipulators, artificial satellites, complex mathematical operations, etc., can solve problems such as large amount of calculation, unfavorable real-time online calculation and prediction, etc., to reduce the amount of numerical calculation, avoid inversion judgment and singularity processing , to ensure the effect of non-singularity

Active Publication Date: 2021-04-13
CHINA ACAD OF LAUNCH VEHICLE TECH
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Problems solved by technology

The traditional method is to predict and analyze the attitude disturbance of the base based on the numerical method of the dynamic model. This method needs to continuously solve the dynamic model numerically, which requires a large amount of calculation and involves multiple matrix inversion operations, which is not conducive to real-time online calculation and predict

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  • A base disturbance calculation method for a free-floating robot in space
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  • A base disturbance calculation method for a free-floating robot in space

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[0039] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0040] The invention can be applied to a space vehicle system or a space robot system with a space manipulator, and solves the problem of prediction and analysis of base attitude disturbance caused by the movement of the manipulator in a free-floating mode.

[0041] figure 1It is a schematic diagram of the modeling of the space free-floating robot of the present invention. The space robot system is composed of a base and a mechanical arm. Each joint of the arm realizes the movement of the robotic arm and drives the end effector to complete the space manipulation task. Compared with the motion mode under the control of the base, the free-floating mode can ensure the safety of space close-range operation tasks and can save active energy...

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Abstract

A base disturbance calculation method for a space free-floating robot, comprising the following steps: Step 1, determining system parameters and task parameters of the space free-floating robot; determining the total calculation time and calculation period T; System parameters and task parameters, calculate the initial linear momentum P of the free-floating robot in space 0 and initial angular momentum L 0 ; Step 3, calculate the translational coupling matrix H of the space free-floating robot at the current moment s and the rotational coupling matrix H θ ; Step 4, according to the initial linear momentum P 0 and initial angular momentum L 0 , the translational coupling matrix H of the space free-floating robot at the current moment s and the rotational coupling matrix H θ , to determine the base angular velocity vector ω at the current moment 0 ; Step five, according to the base attitude angle vector θ(t) and the attitude angular velocity vector ω at the current moment 0 , calculate the base attitude angle vector θ(t+T) in the next cycle; then go to step 3 for the next calculation cycle until the total calculation time is reached.

Description

technical field [0001] The invention relates to a base disturbance calculation method of a space free-floating robot, which belongs to the field of space operations. Background technique [0002] Space robots usually consist of a base spacecraft (referred to as base) and one or more robotic arms, which can replace astronauts to perform various on-orbit operations. In recent years, they have become a research hotspot in various space powers. According to whether the base posture is controlled or not, the space robot is divided into three control modes, namely base controlled mode, free flight mode and free floating mode. Among them, the free-floating space robot mode is not controlled because the base posture is not controlled, and the movement of the end effector is realized only through the motors driving the joints of the manipulator. Compared with other control modes, free-floating robots can ensure the safety of space close-range manipulation tasks and save active energ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/16B25J19/00B64G1/10
CPCB25J19/00B64G1/10G06F17/16
Inventor 张烽焉宁李扬陈蓉唐超申麟高朝辉唐庆博吴胜宝张霞陈春燕张恒浩
Owner CHINA ACAD OF LAUNCH VEHICLE TECH
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