Trajectory tracking control method for space five-degree-of-freedom free flight mechanical arm

Abstract

The invention discloses a trajectory tracking control method for a space five-degree-of-freedom free flight mechanical arm. The trajectory tracking control method can solve the accurate problem that aspace object is captured and manipulated by the five-degree-of-freedom space free-flight mechanical arm installed on a spacecraft. The trajectory tracking control method mainly comprises the following four points that 1), a D-H method is applied to establish a forward kinematic model of the mechanical arm; 2) a Lagrange equation is applied to establish a dynamical model of the mechanical arm; 3),a Jacobi transpose matrix and a PD controller are combined to introduce a generalized force vector; and 4), Simulink software is used for constructing a simulation model according to a dynamical differential equation. According to the method, the kinematic and dynamical models of the mechanical arm are constructed at the same time, and the method of the Jacobi transpose matrix in combination withthe PD controller is applied, so that the problem that a kinematic control method applied widely at present cannot well track and control the space high-speed high-precision mechanical arm is effectively solved.

Description

technical field [0001] The invention discloses a trajectory tracking control method of a space five-degree-of-freedom free-flying manipulator, which can solve the problem of the accuracy of capturing and manipulating space objects by the space five-freedom-free-flying manipulator installed on a spacecraft. Background technique [0002] In recent years, the number of satellites launched by various countries has gradually increased. In order to ensure the normal operation of each satellite, reduce the cost of space equipment and prolong the service life of satellites, space robots are required to carry out continuous inspection, assembly and maintenance on orbit. Therefore, there is an urgent need to improve the reliability of space robotic systems serving on-orbit. To improve the maneuverability of on-orbit robotic systems, scientists have proposed the space free-flying robotic arm (SFFR) with the manipulator mounted on the spacecraft. [0003] For space free-flying manipula...

AI Technical Summary

Problems solved by technology

The characteristic of the kinematics control method of the manipulator is that the control law is simple, and it is easy to simulate and realize it through software. However, for high-speed, high-precision manipulator control, this method is difficult to guarantee that the manipulator we control can have the desired performance. Static and dynamic characteristics, it is not enough to control them only by kinematic methods

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