A compliant stabilization control method in the process of capturing spatially irregular moving targets

Abstract

The invention discloses a compliant and stable control method in the process of capturing irregular moving objects in space. A modified genetic algorithm is used to design a control method while considering the movement of the joint angle of the mechanical arm, the movement of the end distance, the angular velocity of the joint, the damping time and the control method. The trajectory of the torque magnitude can quickly and safely achieve the stabilization of the robotic arm, which can damp the relative motion of the target and the body for derotation, providing a new idea for damping and stabilizing the captured robotic arm.

Description

technical field [0001] The invention relates to the field of space robots, in particular to a compliant and stable control method in the process of catching irregular moving objects in space. Background technique [0002] Space operation is an important trend in the development of spacecraft in the future. During the mission of space operation, the end of the manipulator comes into contact with the captured target, and the resulting transient collision will disturb the spacecraft-manipulator system. The system flipped and became unstable. Due to the significant effect of the impact force in the process of capturing the target, it is necessary to study the control strategy in the process of capturing. [0003] The common way to capture a spacecraft in orbit is to lock the joints and then de-rotate for a target with known motion or stable motion. This method requires the joints of the manipulator to withstand the torsional moment when the target and the body move relative to ...

AI Technical Summary

Problems solved by technology

[0003] The common way to capture a spacecraft in orbit is to lock the joints and then de-rotate for a target with known motion or stable motion. This method requires the joints of the manipulator to withstand the torsional moment when the target and the body move relative to each other. , but the implementation is simple, it only needs to judge the timing of catching the target, and then lock the joints. The disadvantage is that the robot arm cannot be used as a damper to derotate the target, and for irregular moving targets, the body cannot effectively follow the target movement, which may Generate excessive momentary torque and damage the mechanical arm device

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