Research On Motion Control Technology For Space On-orbit Reconfigurable Robot

With the continuous development of space technology,space on-orbit task has become increasingly heavy and complex.The existing robots have some limitations in carrying out various tasks,which issues new demands for the development of space robots.Reconfigurable robot is a robot that can change its configuration according to different working environments and mission requirements.Through the reconstruction of the robot system,the working range of the robot is enlarged,the reliability and stability of the robot system are increased,and the cost is reduced.In this paper,we study the reconfigurable modular robotic motion control for the requirements of new robots,including on-orbit assembly of large-scale space structures,maintenance and repair of fine-grained space,and monitoring of small space operations.First,we introduce the background and significance of space-orbital reconfigurable modular robots and their state-of-the-art techniques at home and abroad.Aiming at the demand of new space robot in orbit task,we develop a reconfigurable modular robot to deal with the complicated and changeable working contents and environments,and design an overall scheme of reconfigurable robot system for on-orbit mission.Based on this,we establish a reconfigurable robot ground validation system.Second,using graph theory to describe the configuration of reconfigurable robots,the kinematics model of reconfigurable robots is deduced,and the kinematics program are realized using the MATLAB.Third,we create the reconfigurable robot model in ADAMS,and verify it through MATLAB kinematics algorithm.Further,the reconfigurable robot based on typical on-orbit mission was simulated and verified.Through MATLAB graphical user interface,reconfigurable robot software and hardware operating system can be integrated on the same interface and human-computer interaction reconfigurable robotic distributed architecture control system teleoperation layer is implemented.Finally,we build a reconfigurable robot ground experimental system platform to carry out reconfigurable robot kinematics ground experimental design and verification.