Research And Implementation For Redundancy Robot System In Cabin Space Station

In recent years, space robot technology gets the high degree of attention from space agencies all over the world. The hostile environment of space and the expensive expenses of manned spaceflight make it essential to develop the space robot technology. This work is supported by Project921Human Spaceflight Programme, which named "The tele-robot concept research for space station scientific experiment". This paper which is tightly integrated with the project, studies the overall project design and the system integration of the robot simulation system in cabin space station, especially, the kinematic, trajectory planning and controls for redundancy robot. The experimental results prove the high efficiency of this simulation system, and with a large delay existed, a ground operator could still manipulate the space robot steady and accurately.The paper consists of the following parts:This paper describes the research background and the status of research at home and abroad, and makes a systematic analysis about key technologies for capsule robot, including the kinematics analysis for redundancy robot and the structure for modular robot. It makes kinematics models for redundancy robot, which is composed of mobile guide, modular robot with seven degree of freedom joints and dexterous hand. Direct kinematics model is made for the robot using D-H method, and then MATLAB simulation software is used for checking. The inverse kinematics method consists of analytical solution and method extended from Jacobin matrix.The integral control algorithm for redundancy robot is expounded in this paper, including research of several algorithms such as inverse kinematics solution, trajectory planning and object detection algorithm. Due to the large computation quantity of analytical solution, it does not apply to control the robot in real time, and as a result, it could only use Jacobin matrix to solve inverse kinematics. However, the robot in this system is a redundancy robot whose Jacobin matrix is irreversible, and then the gradient projection method is used to optimize the inverse kinematics. Results could be confirmed by formulas calculated by analytical solution, effectively avoiding robot’s singular state. Trajectory planning method adopts timed interpolation method. Joint with object detection algorithm, it achieves a security and stability control system for redundancy robot.The overall project design and hardware structure of redundancy robot system is discussed in this paper, including guide control system, modular robot system with seven degree of freedom joints, manual controller system, dexterous hand system, vision system and space station simulation system. The overall algorithm design and structure components of the robot system is analyzed and researched, including manual controller control algorithm, dexterous hand control algorithm, redundancy robot control algorithm, active visual control algorithm, Kinect visual control algorithm and virtual reality technique. The upper computer is responsible for monitoring and controlling the robot system, while the lower computer is for receiving commands from the upper, sending control commands to device, and returning data information (such as Force Feedback information and visual information) to the upper.Finally, there is a conclusion made for the existing work and a prospect for the future work.