Research Of High-Performance And Fault-Tolerant Technology For Space Robot

As the foundation of space exploration, the space robot will play an increasingly important role in future space missions. However, the space robot works in the space environment and stands the test of ground-launched environment. Meanwhile the future in-orbit mission requires the application of some complex control algorithms. All of these have higher fault-tolerance and processing capability requirements of the system. This thesis studied high-performance and fault-tolerant technology for space robot, a high-performance and fault-tolerant computer system for space robotic motion control is proposed. The hardware and software platform of the computer system is built. With the kinematics solver module and path planning module which is based on FPGA, the experiments are finished. Finally the effectiveness of the computer system are verified by the experiments.Firstly the present research status of the space robot and fault-tolerant computer is studied in this thesis. The research significance and direction of the thesis is proposed. To accomplish the demand analysis of fault-tolerant computer system that is applied to the space robotic motion control. On the basis of that fault-tolerant computer system solution and fault-tolerance policy is designed. According to fault-tolerance solution of quadruple modular redundant, multi-core voting algorithm is proposed. Meanwhile fault recovery is completed by dynamic part of the reconstruction technique.Secondly according to the kinematics characteristics of the7-DOF space robotic manipulator configuration, the kinematics solver of space robotic manipulator is further studied. The processes of kinematics solution are divided into five modules. Moreover, each module is implemented on FPGA. The pseudo-inverse of jacobian matrix is solved by partitioned matrix inversion and QR decomposition inversion, moreover two methods are contrasted.Again the Cartesian space linear and circular path planning for space robotic manipulator is researched. The inverse kinematics solver for velocity is used to obtain the trajectory. The processes of path planning are divided into some modules which are implemented on FPGA. The space robotic motion control is completed by path planning and kinematics solver.Finally fault-tolerant computer system is built, the experiments of the computer system is studied. Moreover experimental data are further analyzed and discussed. The effectiveness and feasibility of the computer system are verified by the experiments.