Study Of Control Of Space Manipulator Based On LEON 3 Processor

The development of space technology, brings about a great deal of space assignments, training astronaut is the main method to accomplish them. The appearance of space robot, especially the space manipulator for aerospace tasks, is freeing astronauts from heavy work pressure. Meanwhile, they are replacing astronauts for the hazardous extra vehicular activities (EVA). The central control board, as the primary control device for space manipulator, seriously restrict the performance of manipulator if they are not powerful enough.At the beginning, this paper confirmed the hardware scheme of the central control board for space tasks, have chosen three high-powered Rad-Hard microprocessors for following project's development. Based on it, a central control board for ground test based on normal commercial devices was designed, which can perform as well as the one for space tasks. In this paper, every model of the board is described in detail.The main processor of this central control board for ground test is a XILINX FPGA running the embedded LEON 3 processor core, works at the frequency above 100MHz, focusing on forward and inverse kinematics calculation, motion planning, and other tasks for space manipulator's control. The expanded ALTERA FPGA mainly charge the communication tasks, etc.Then, the central control board ran and tested the control algorithm, testified the feasibility of real-time control. Based on hardware description language, models in FPGA, such as the bridge to the LEON 3 processor core, UART port, etc., were designed and implemented.At last, this paper did the kinematical simulation of a space manipulatorwith MATLAB, again testified the correctness of control algorithm. Also, Newton-Raphson method is applied in the path optimization for manipulator control. In conclusion, a control scheme of this space manipulator was shown.