Contact type racemization stabilization method for space teleoperation robot capable of eliminating operation deviation based on safety channel

Abstract

The invention relates to a contact type racemization stabilization method for a space teleoperation robot capable of eliminating operation deviation based on a safety channel. Aiming at a failed spacecraft with a certain spin angular velocity, a control loop in a space teleoperation mode is adopted, a space mechanical arm with a brush at the tail end is utilized to make contact with a contact point on a solar wing of the target failed spacecraft for multiple times to reduce the angular velocity of each axis to be within a certain range, and a virtual fixture-based safety channel is used to assist ground operators in controlling the space mechanical arm to contact the contact point on the solar wing. According to the method, racemization stabilization of the target failed spacecraft can be rapidly, safely and stably achieved, the failed spacecraft is taken over for a subsequent on-orbit service platform, preparation is made for subsequent on-orbit services such as capturing and cutting of fault parts, and actual operation conditions such as position and contact force deviation possibly occurring during manual operation are fully considered. By adopting the brush type contact racemization stabilization strategy, the influence can be well eliminated.

Description

technical field [0001] The invention belongs to the field of on-orbit service of a space teleoperation robot, specifically relates to an auxiliary teleoperation means based on a virtual safety channel, and in particular to a contact derotation stabilization method for a space teleoperation robot based on a safety channel to eliminate operation deviation. Background technique [0002] In recent years, with the rapid development of space on-orbit service technology, the means for human beings to access outer space have become more and more abundant. Space operations such as space assembly and on-orbit maintenance of various spacecraft have continued to increase. , the complexity and diversity of control are increasing day by day, and all space powers are seizing the required orbital resources, coupled with the expiration of the life of the spacecraft, and the space garbage formed by the failure of the launch, all of which have caused damage to other spacecraft in orbit. It wil...

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Problems solved by technology

[0006] In order to solve the shortcomings of the lack of intelligence of existing space robots and the long time of non-contact derotation stabilization, the space teleoperation technology with human participation is adopted, and at the same time, the influence of operation deviation caused by human hand shaking during the operation is fully considered. The design of the present invention A contact derotation stabilization method for a space teleoperated robot based on a safe channel to eliminate operational deviation

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