| Free flying space robot, in which manipulators are mounted on a thruster-equipped spacecraft, has been suggested for a number of import missions in space, such as releasing, retrieving and repairing satellites in earth orbit, space machining, space production, space assembling, space scientific experiments and space repairing, it makes the researches of manipulator control and pose adjustment of the base for the space robot significant increasingly. Given the target acquisition task of free flying space robot, the manipulator bilateral teleoperation control and the base pose adjustment control are studied, the fuzzy bilateral control algorithm and the fuzzy PD control algorithm based on fuzzy logic are developed, and the estimation of distribution algorithm is proposed to use in optimizing the parameters for fuzzy controller, which is verified that there is better control performance through the test of MATLAB and experiment system. Moreover, the ground simulation experiment system is developed for free flying space robot and the target acquisition experiment of free flying space robot is accomplished through pose-based visual servo control method. Firstly, the background and research status of the ground simulation experiment system are summarized for space robot at home and abroad. Air flotation experiment system is finally selected for the space robot research, considered the feature of this experiment task and the design principles of the space robot ground research simulator from different countries.Secondly, the space robot manipulator teleoperation is discussed to compare predictive control, remote programming control and bilateral control, then the teleoperation fuzzy bilateral control is determined to obtain good stability and tracking. Moreover, as a result of the difficult of establishing the membership function, the method that establishing the membership function based on estimation of distribution algorithm is proposed to design the teleoperation fuzzy bilateral controller, which is feasible and effective verified by results of experiment.Thirdly, the base pose adjustment control for free flying space robot is studied. Due to the space environment with microgravity, there exists complex motion of the base of space robot when it captures other objects, which causes enormous difficult of space operations for the space robot. we utilize the fuzzy PD controller to implement the pose adjustment. This approach uses the real-time position information to adjust the attitude and the position to keep the pose error to be small and the capture tasks to be successful. The result of experiment verifies that fuzzy PD controller not only has superior control performance than the conventional on/off controller but also consume less fuel. In addition, there are explanations of the design standard of the space robot for ground experiment system and the overall program of modular design, and details of the hardware structure and component of the robot system, including PC 104 control subsystem, manipulator control subsystem, mechanical claw control subsystem and source subsystem.Moreover, there are explanations of the overall algorithm design, the target acquisition experiment of the free flying space robot through pose-based visual servo control, including manipulator motion control, the base pose adjustment algorithm, mechanical claw control and wireless data transmission, and related software.Finally, the work carried out of the paper is summarized, and a prospect is made for the future work. |
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