Dynamics Analysis And Control Simulation Of Space Robot

Space robot, which consists of the main base and the manipulators and solar array mounted on it, can accomplish various extra vehicular activities in place of astronauts. It has a good future. The kinematics, dynamics and control of space robot system have been discussed in this thesis.Firstly, the first kind of Lagrange function is used to obtain the dynamics model of the space robot, which final expressions are hybrid differential-algebraic equation. After that, common constraints and constraint equations are derived. There are no simplification and assumption in the procedure of derivation to make sure to express the coupling and nonlinear characteristics. All subsequent work is carried out on these equations.Secondly, the kinematics and dynamics characteristic of space robot are studied. The kinematics characteristic of space robot—attitude disturbance, redundancy and nonholonomic characteristics are discussed. They are certified using ADAMS. Considering light mass, large size of the manipulators, the flexibleness of the manipulators can not be neglected. The difference between rigid model and flexible model is simulated by using ADAMS and ANSYS.Finally, the attitude control of space robot is discussed.'Virtual prototyping'based on simulation technique is applied to space robot. Using cooperation of ADAMS and MATLAB, a virtual simulation environment is made, which combines planning and designing, dynamics modeling, controlling and visualization simulation in one. It provides a new method for dynamics and control of space robot. PID control method is used in this thesis. It is shown through simulation that the PID control method is effective and the cooperation simulation is practical.