Design And Analysis Of Master And Slave Control System Of Space Manipulator Based On Force Coordination

Compared with the general manipulator,the space manipulator has the following characteristics: It works on a moving base.Because of the space environment,the autonomous motion is needed in most cases,so it needs high reliability.In particular cases,it needs remote control under the condition of large delay.In addition,the electromechanical delay will have an impact on the stability and controllability of motion control.Therefore,the force coordination control is needed to improve its dynamic performance and reduce the time delay.Due to the weak computing power of spaceborne computers,the amount of computation for dynamic computation is limited.The past research on space master-slave control system has made some progress,but there are still some problems.Based on the previous research,this paper studies the modeling of space manipulator dynamics,the force coordination control of manipulator and the design of master-slave control system of space manipulator.Firstly,this paper build an iterative inverse kinematics based on axis invariants(axis vector and natural coordinate)of a 6-DOF decoupled space manipulator model and the "Ju-Kane" method,and it provides the conditions for multi-axis coordinated force control of the manipulator.The simulation software developed by C++ is used to realize the kinematic and dynamic modeling of the manipulator.Through the contrastive experiments,the validity and correctness of the method are verified.Secondly,the fuzzy sliding mode control method is used to control the space manipulator by multi axis coordination,and the dynamic performance of the space manipulator is improved,the electromechanical delay is reduced,and the simulation experiment is carried out to verify it.Thirdly,a bilateral adaptive controller is designed.By adaptive control at both ends of the master and slave,the synchronous motion of the master and slave ends is achieved,and the influence of the time delay on the stability and the transparency of the system is reduced.Finally,develop the control simulation software,and verify the effectiveness of master and slave control algorithm via the experiments.