Collision force minimizing method for space flexible manipulator

Abstract

The embodiment of the invention provides a collision force minimizing method for a space flexible manipulator. The method comprises the steps that according to a joint space kinetic model of the spaceflexible manipulator, motion response of the space flexible manipulator under the collision force action is obtained; according to the joint space kinetic model and motion response of the space flexible manipulator, a collision kinetic model of the space flexible manipulator is obtained; according to the collision kinetic model of the space flexible manipulator, a collision force minimizing strategy of the space flexible manipulator is obtained. According to the technical scheme, the collision kinetic model of the space flexible manipulator can be obtained so as to accurately describe the collision process of the space flexible manipulator, and collision force minimizing of the space flexible manipulator can be achieved, so that the damage degree of contact collision to the space flexiblemanipulator is reduced, and the use cost is reduced.

Description

【Technical field】 [0001] The invention relates to the research on collision dynamics of a space flexible manipulator, in particular to a method for minimizing the collision force of a space flexible manipulator. 【Background technique】 [0002] In recent years, countries have actively used space manipulators to complete tasks such as space station construction, maintenance, and extravehicular exploration. Considering cost constraints and the heavy nature of space operations, space flexible manipulators are often used due to their slender arms and low structural rigidity. It can better adapt to the task requirements of large load capacity and long-span operation, so space flexible manipulators are more and more widely used in space applications. At the same time, when performing tasks such as space station construction and maintenance, floating satellite capture, and space garbage pickup, the contact and collision between the space flexible manipulator and the target is unavoi...

AI Technical Summary

Problems solved by technology

It ignores the flexible characteristics of the arm of the space flexible manipulator, and does not consider the impact of the coupled motion of the base, joints and arm deformation of the space flexible manipulator on the collision process.

At present, there are very few collision force minimization methods for space flexible manipulators. Some scholars have proposed a method to reduce the collision force by reducing the relative speed before collision. If this method is used in low-speed operation , the collision force cannot be minimized

Therefore, the existing algorithm is not suitable for the minimization of the collision force of the space flexible manipulator

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