Research On The Game Pursuit Strategy Of Space Robot For Escape Satellite Capture

Space exploration has very important practical significance for national security protection and national economic development.In the process of space exploration,a large number of spacecraft have been launched into the universe.These spacecraft are widely used in scientific research,military competition,resource exploration,data communication,production and life and other fields.Artificial earth satellites have gradually become an important means for countries to compete for space resources because of their wide variety,wide range of functions,relatively low cost,and long service life.While vigorously developing their own space technology,all countries are actively carrying out research on anti-satellite technology.At present,many countries have conducted anti-satellite experiments that have launched attacks against non-cooperative satellites to render them invalid.However,compared with the traditional anti-satellite technology that directly destroys or destroys the target satellite,the use of space robots to capture the target satellite in orbit has more military value and plays an important role in national defense security.Therefore,it is of vital theoretical value and practical significance to carry out research on the game pursuit strategy of space robot for escape satellite capture.Aiming at the on-orbit capture mission of escape satellites,this article takes space robot and escape satellite as the research objects,and realizes the research on the game pursuit strategy of space robot for escape satellite capture.Including:the establishment and solution of satellite game pursuit and escape model,the optimization and adjustment of the configuration of redundant manipulator,the acquisition control of the restricted environment manipulator and the simulation experiment of the satellite acquisition strategy.The process of capturing escape satellite in orbit can be divided into three steps:satellite pursuit and escape,manipulator configuration adjustment,and manipulator capture control.First of all,the pursuit and escape process of escaping satellites has typical game characteristics and belongs to the problem of game pursuit and escape.For this reason,this paper considers the game characteristics of the satellite pursuit and escape process,and transforms the pursuit and escape problem into a mathematical problem.Combining the three basic elements of the game player,strategy set,and payout function,a differential game pursuit model is established.Design a solution method,use the time discrete method to transform the fixed-time differential game into a short-period iterative game,and solve the optimal motion strategy of the space robot and the escape satellite in the pursuit and escape process.This realizes the approach of the space robot to the escape satellite,and provides a basis for research on the capture of escape satellite.Secondly,before using redundant manipulator to capture escape satellites,the configuration of the manipulator needs to be adjusted according to the target pose.Since there are countless inverse solutions for redundant manipulator,the capture configuration of the manipulator needs to be selected according to the task.Therefore,combined with the complex capture scenarios of escape satellite,this paper proposes a manipulator configuration optimization and adjustment strategy that aims to optimize the average operability of the configuration adjustment process.The hash-map method is used to establish a mapping relationship between the reachable pose and configuration set of the end of the manipulator solved by the kinematics model.Using the trapezoidal velocity trajectory planning method with parabolic transition,the configuration sequence of the manipulator adjusted from the initial configuration to the operating configuration is generated.Using the designed operation configuration optimization strategy with the optimal average operability in the configuration adjustment process as the preferred target,the operation configuration of the manipulator to capture the escape satellite is selected.Thirdly,the capture environment for using redundant manipulators to capture escape satellites is complicated.In order to improve the adaptability and safety of the manipulator to the environment during capture,this paper studies the control strategy of the end of the manipulator when the movement of the arm is restricted by the environment.The dynamic model is established for the redundant manipulator,and a hybrid end force/position control law is designed to control the end of the manipulator.On this basis,using the zero-space characteristics of the redundant manipulator,the control equation of the contact force between the link and the environment is designed.Couple it with the terminal force/position hybrid control equation to realize simultaneous control of the arm contact force and the terminal force/position when the link is restricted by the environment.This makes it possible to use robotic arms to capture escaped satellites in complex environments.Finally,this paper develops a game pursuit strategy simulation verification platform to simulate the whole process of using space robot to capture escape satellite in orbit.By recording and analyzing the experimental data,it verifies the applicability of the game pursuit strategy designed in this paper in the use of escape satellite capture.