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Spinning target capturing method adopting space dual-arm robot

A space robot and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as unstable control systems, difficult implementation, and noise

Active Publication Date: 2020-11-24
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing dual-arm robot capture methods all assume that the target capture position is symmetrical, and end force sensors are required to achieve impedance control, but a completely symmetrical capture position is difficult to achieve, and due to the sensitive characteristics of the force sensor, it is inevitable The presence of noise, leading to instability of the control system

Method used

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  • Spinning target capturing method adopting space dual-arm robot
  • Spinning target capturing method adopting space dual-arm robot
  • Spinning target capturing method adopting space dual-arm robot

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Embodiment Construction

[0072] see figure 1 — Figure 5 , the technical scheme adopted in the present invention comprises the following steps:

[0073] 1) According to the design of the grabber, establish the system dynamics model of the dual-arm space robot and the target;

[0074] 2) Design a compliant control method to achieve synchronous derotation and capture of the target;

[0075] In described step 1), the specific steps of establishing the system dynamics model of dual-arm space robot and target are as follows:

[0076] 1-1): Constraint analysis

[0077] In order to establish a dynamic model under constraints, it is first necessary to analyze the tangential and normal position constraints of the spherical catcher and the target. The constraint relationship is as follows: figure 1 shown. The first joint point O of the right arm of the space robot is defined as the origin of the reference coordinate system. The position of the center of mass of the target is (x, y) in the space robot body...

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Abstract

The invention relates to a spinning target capturing method adopting a space dual-arm robot. According to the method, a target can be captured under a target spinning condition, the requirement on theaccuracy of a target capturing position can be reduced, the fuel consumption is reduced, the space dual-arm robot can effectively capture the spinning target, and the capturing process is high-efficient and reliable.

Description

technical field [0001] The invention belongs to the research field of spacecraft control technology, and in particular relates to a control method for synchronously completing target derotation and capture by a space dual-arm robot under the condition of target spin, and finally realizing target stability. Background technique [0002] With the development of space technology and space applications, the number of global satellite launches is increasing year by year, and the number of spacecraft that fail due to failure or fuel exhaustion also increases. In most cases, the failed spacecraft loses its attitude control capability, but its payload can still work normally. Therefore, it is necessary to use space robots for fuel filling and on-orbit maintenance. Considering the influence of factors such as the residual angular momentum of the failed spacecraft, the energy dissipation generated by flexible parts, and the disturbance generated by the gravitational gradient moment, t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1612B25J9/1679
Inventor 黄攀峰韩冬刘正雄马志强孟中杰张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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