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A control method for a space dual-arm robot to cooperatively capture a target

A control method and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problem of occupying space orbit resources, etc., and achieve the effect of high capture accuracy

Active Publication Date: 2022-03-29
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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  • A control method for a space dual-arm robot to cooperatively capture a target
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  • A control method for a space dual-arm robot to cooperatively capture a target

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[0078] 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.

[0079] In order to illustrate the technical solution of the present invention more clearly, the following examples illustrate the technical solution of the present invention. 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 capture....

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Abstract

The invention discloses a cooperative control method for a space dual-arm robot to capture a target, including: establishing an independent dynamic model of the space dual-arm robot base and the robot; and controlling two aircrafts according to the zero-distance docking control method of the space robot base The relative position and line-of-sight direction of the manipulator; the cooperative planning and control method based on visual servoing of the manipulator makes the two manipulators reach the target at the same time; the dynamics and kinematics coupling compensation method of the space robot uses relative navigation information to estimate the relative motion of the base and the target The coupling of the manipulator compensates the movement of the manipulator, and at the same time uses the state of the manipulator to estimate the reaction force to the platform, which is used as a feed-forward compensation base control. 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 capture.

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 have become stronger and stronger, and on-orbit maintenance and service have gradually become the mainstream of development. 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. [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 as...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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