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Cooperative control method for target capturing by space dual-arm robot

A space robot and control method technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as occupying space orbit resources

Active Publication Date: 2019-04-12
SHANGHAI AEROSPACE SYST ENG INST
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Problems solved by technology

On the other hand, a large number of failed satellites become space debris due to not deorbiting in time, occupying this precious space orbit resource

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  • Cooperative control method for target capturing by space dual-arm robot
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[0075] The above content is only to illustrate the technical ideas of the present invention, and cannot limit the protection scope of the present invention. Any changes made on the basis of the technical solutions according to the technical ideas proposed in the present invention shall fall within the scope of the claims of the present invention. within the scope of protection. The content that is not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.

[0076] In order to set forth the technical solution of the present invention more clearly, the technical solution of the present invention is described below through the examples. Aiming at the capture problem of space dual-arm robots, the present invention provides a cooperative control method for capturing rolling targets, which ensures the time consistency of the target capture by both arms, and then achieves a high The purpose of precision cap...

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Abstract

The invention discloses a cooperative control method for target capturing by a space dual-arm robot. The method comprises: establishing a space dual-arm robot base and an independent dynamic model ofthe robot; according to a zero-distance stop control method of a space robot base, controlling relative positions and line-of-sight pointing of two aircrafts; enabling two robotic arms to reach a target at the same time based on visual-servo-based collaborative planning and control method; and according to a dynamic and kinematic coupling compensation method of the space robot, estimating couplingof relative movement of the base and the target based on relative navigation information, compensating the movement of the robotic arms, and estimating the counter-acting force on the platform by using the states of the robotic arms to realize feedforward compensation pedestal control. According to the invention, a cooperative control method for catching the rolling target is provided to solve the capturing problem of the space dual-arm robot; and the time consistency of target catching by two arms is ensured. On the basis of mutual compensation of the base and the two robotic arms, the high-precision catching is realized.

Description

technical field [0001] The invention belongs to the technical field of space robots, and in particular relates to a control method for a space double-arm robot to cooperatively capture a target. Background technique [0002] With the development of space technology, the capabilities of aircraft are getting stronger and stronger, and on-orbit maintenance and service have gradually become the mainstream of development. On the other hand, a large number of invalid satellites become space debris due to not deorbiting in time, occupying this precious space orbit resource. [0003] A space robot refers to a space service aircraft carrying a manipulator. The capture of targets is mainly divided into two categories: one is to capture non-cooperative targets, which have no markers for visual measurement and capture tools adapted to the manipulator. Due to the influence of loss of control, fuel leakage, and space perturbation, usually the target may have motion characteristics such a...

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Application Information

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IPC IPC(8): B64G4/00B25J9/16
CPCB64G4/00B25J9/16B25J9/1679B64G2004/005
Inventor 陈欢龙沈晓凤宋斌王碧葛卫平肖余之何志文张庆展
Owner SHANGHAI AEROSPACE SYST ENG INST
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