Rigid-flexible coupling robot state measurement and control system, device and method in complex environment

Abstract

The invention discloses a rigid-flexible coupling robot state measurement and control system, device and method in a complex environment. The system is provided with an upper-end equipment mounting structure and a lower-end equipment mounting structure which are arranged on a liftable bracket and are used for placing a plurality of sensors, the position and attitude information measurement of the rigid-flexible coupling robot is realized through various measuring equipment, and the influence of complex interference on the motion state of the rigid-flexible coupling robot is simulated; according to the device, a control end is designed according to the difference between state measurement and control of the rigid-flexible coupling robot, and the autonomous stability and autonomous maneuvering technology of the rigid-flexible coupling robot can be verified; the experimental method is beneficial to arrangement and analysis of task data and provides a basis for further technical research. The device meets various task requirements, has high flexibility, and can be used for developing corresponding implementation schemes for autonomous stable control and autonomous maneuvering control technologies of the rigid-flexible coupling robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a state measurement and control device for a rigid-flexible coupled robot in a complex environment. Background technique [0002] With the development of robotics technology, rigid-flexible coupled robots are widely used in aerospace and aviation-related fields. For example, the space flying claw rigid-flexible coupled robot, which is widely used in space on-orbit services and operations, has the characteristics of flexibility, safety, and low fuel consumption. Operation; the hose-cone-sleeve rigid-flexible coupling robot used for UAV autonomous aerial refueling technology has the ability of one-to-many refueling and greater flexibility, which has a great impact on improving the combat capability, combat range and combat radius of future UAVs. Crucial role. However, in the process of task execution, rigid-flexible coupled robots are mostly in complex environments and...

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, to provide a rigid-flexible coupling robot state measurement and control system, device and method in a complex environment, to solve the lack of corresponding measurement experiments for rigid-flexible coupling robots in the prior art The problem of the device, the system can simulate the process of the rigid-flexible coupling robot to perform tasks, reflect the motion state of the rigid-flexible coupling robot during the task process, and can verify the rigid-flexible coupling robot technology with functions such as autonomous stability and autonomous maneuvering, which is conducive to better research Rigid-flexible coupling robot related application technology

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