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Constraint compliance stability control method for space double-arm robot

A stable control method and technology of space robots, which are applied in the directions of space navigation equipment, transportation and packaging, tools, etc., to achieve the effect of improving reliability, restraint, compliance and stability

Active Publication Date: 2020-06-12
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the existing research results, the researchers have achieved the compliance and stability of the space single-arm robot to the non-cooperative target by designing a position-based compliance control law. Consider the compliance of the squeeze between the arms, which has not been studied in the open literature

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  • Constraint compliance stability control method for space double-arm robot
  • Constraint compliance stability control method for space double-arm robot
  • Constraint compliance stability control method for space double-arm robot

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Embodiment Construction

[0029] The following describes the embodiments of the present invention in detail, and the embodiments are illustrative and intended to explain the present invention, but should not be construed as limiting the present invention.

[0030] In this embodiment, the principle and stability proof of the constrained compliant and stable control method of the space dual-arm robot proposed by the present invention is given, including deriving the dynamic model of the space dual-arm robot; A performance-constrained tracking controller is designed to achieve constrained compliance and stability for spatially non-cooperative targets.

[0031] Establish a space dual-arm robot dynamic model:

[0032] The tumbling target model can be simplified as a rigid body, and its dynamics can be expressed by a six-degree-of-freedom dynamic equation when the inertial parameters are known. Coordinate system ox t the y t z t is the body coordinate system defined on the target, where o is the center o...

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Abstract

The invention discloses a constraint compliance control method for a space double-arm robot. A kinetic model of the space robot is derived; a double-layer compliant structure for adjusting expected movement is designed, and compliance of target operation and extrusion between mechanical arms is coordinated; by designing an obstacle Lyapunov function, constraint tracking of an expected trajectory is realized; and, finally, the effectiveness of the method provided by the invention is verified through examples. According to the method, compliance between target operation and mechanical arm extrusion is achieved by generating the compliance expected track, the control performance of joint tracking expected movement is restrained, and reliable double-arm compliance stable control over the captured non-cooperative target is achieved.

Description

technical field [0001] The invention relates to a compliant control method for a space dual-arm robot, especially for the stable control task after the space robot captures a non-cooperative target. Background technique [0002] Space robot grasping on-orbit targets is one of the important key basic technologies required for on-orbit service tasks. In existing studies, researchers usually divide the capture task into three stages in sequence, namely, pre-capture, capture and post-capture. The space robot manipulates the end of the manipulator close to the capture point in the two stages before and during the capture, and achieves a firm grip between the end of the manipulator and the capture point. In the post-capture stage, the robotic arm and the base of the space robot cooperate to complete the stabilization or reconstruction task of the target. In the entire capture task, the task objectives before and during the capture focus on the guarantee of optimal operation and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G4/00
CPCB64G4/00B64G2004/005
Inventor 罗建军夏鹏程王明明朱战霞马卫华袁建平
Owner NORTHWESTERN POLYTECHNICAL UNIV
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