Ground Physical Verification System Of Space Robot For3D Space Target Capturing

As the technology of space is developing with a high speed, especially with theincredible development of the space station, space shuttle and space robot, humans areexploring the universe more and deeper than ever before.As a useful tool for spaceservicing and sustaining,space robot has an important meaning for the technology ofspace.As the task of target capturing is an important link and technology in spacerobot servicing,it is gradually becoming the hot issue in space area.And as a result, theverification of the target capturing task of spcace robot on ground is more and moreimportant.First of all,this paper studies the methods of modeling for the kinematic anddynamic models of the free floating space robot,and analyses the advantages anddisadvantages of these methods.Then based on the space robot system we sdudies, thispaper sets up the coordinates and vectors relationship of the system.At last, combinatingwith the kinematic equation, this paper established the dynamic normal equation of thespace robot in the virtual power form, with the method of variational principle.Secondly, the traditional methods for verificaton of the target capturing task of thespace robot on ground are reviewed.And the advantages and disadvantages of all themethods are introduced in details.Considering the space robot system we study,theauther decided to set up the verification system on ground using the HIL(Hardware-In-the-Loop) method which is also called the hybrid simulation method,based on thecombination of the dynamic simulation and the kinematic equivalence.The autherestablished the experiment system using one industrial robot simulating the motion ofthe end-effector of the space robot,and another simulating the motion of the floatingtarget in space,with the eye-on-hand camera, the central control unit and the electronicsimulator of the space robot joints in the loop.Thirdly, this paper verifies the theory of the experiment system on ground with thehelp of the math simulation.At first, the kinematic and inverse kinematic algorithm ofthe industrial robots are verified with the Robotixs toolbox of Matlab, and theworkspace of which are analysed based on the Simmechanics. Secondly, the algorithmof the dynamic simulation which refers to the forward dynamic model of the spacerobot, and the algorithm of the simulator of space robot which is based on the inversedynamic equation, are verified based on the model of the Simmechanics toolbox andSimulink of Matlab. At last, using ADAMS combining with Matlab, this paperestablishs the dynamic model of the verification system of the space robot on ground,then the simulation model of the process of target capturing with the space robot isdemonstrated. At the end, the systematic experiments of the verification of the space targetcapturing on ground are demonstrated using the verification system introduced in thispaper,including the capturing ability,the capturing limits and the capturing periods of the3D moving and the space rotating target.At the same time,the validity and accuracyvisaul measurement algorithm,the path planing algriothm and the central controlalgorithm are verified by experiments. At last,the error of the verification experiment isanalysed to ensure the accuracy an validity of the experiment results.