Coordinate Control For Space Manipulator-Target System And Experimental Study

As the continuous development of space technology, space robots become increasingly onerous and complex on-orbit operation tasks. The capture target space robot to perform the primary task of the rail operation, space robot target acquisition operations simulated microgravity experimental platform through the ground, is an important means of research space robot. Based on the ground operations of the space robot experiment, select the space robot and capture the target as the object of study, systematic study of the space robot target acquisition operations.First, the analysis of the research status of the space robot target acquisition experimental platform selected research space robot object the establishment of six degrees of freedom manipulator kinematics model, given the joint angles, joint angle end position and orientation mapping relationship. And analyze the kinematics simulation of the robotic arm used in this study.Secondly, the manipulator capture accuracy for target acquisition, to propose experimental calibration test means to improve the the joint precision, in order to ensure the control of the robot arm end positioning accuracy. Design and build a joint test platform proposed compensation method of angle measurement error, ensure joint measurement accuracy.Again, the end of the space manipulator mechanical clutch work space is limited for the fixed-base issue, between the manipulator and target star with coordinated control mechanism to accomplish the goal of capture operation. Design robotic arm with the target star intersection control strategy and target acquisition. Once again, the combination of the Institute with the characteristics of the experimental platform is proposed to capture the the target attitude determination program, to build the target position and orientation measurement system. And the design goals horoscope posture control scheme, to achieve the the capture target independent attitude adjustment function.Finally, build a space robot target acquisition simulation platform, the composition of the various subsystems, capture the experimental control system design. Space manipulator respectively, the target satellite control experiment, and target acquisition demonstration experiments, the feasibility and reliability of the inspection robot arm control of the target star system performance and capture control program. Summary of the research results and prospects.