Research On Ground Simulation Of Dexterous Operation Of Space Robot Based On 3-DOF Of Air Floating Platform

With the continuous development of aerospace technology,space operation technology has gradually been replaced by space robots,which greatly reduces the workload of astronauts and the possible risks during work.In recent years,due to China’s strong support for the space robot project and the unremitting efforts of scientific research teams,China has further promoted the process of aerospace automation.In this regard,after consulting a large number of domestic and foreign literatures in relevant fields,this paper has carried out a research on the dexterous operation of the space assistant robot AAR-2 based on a 3-dof air floating platform.In this paper,first of all,the three-degree-of-freedom hardware of the air floatation platform is modified.The three-degree-of-freedom air floatation platform is used as a tool to build the ground microgravity environment.Through the control system built on the air floatation platform,the entire experimental system has the ability to move and rotate with three-degree-offreedom.Then,the motion formula analysis and dynamic modeling of the three degrees of freedom air flotation platform are carried out.Then,the movement control method of the three degrees of freedom air flotation platform is studied,and the Momentum and RMSprop methods of the PID neural network are improved to accelerate the iterative speed of the gradient descent method in the neural network,so that the air flotation platform can track the motion curve with higher accuracy.After solving the movement control problem of the system,we carried out the structure design,the forward and inverse kinematics analysis of the fingers and the workspace analysis of the five-finger dexterous hand,and designed the admittance control based on the position closed-loop for the fivefinger dexterous hand driven by the linear servo motor,which realized the active compliance control of the dexterous hand and avoided causing damage to the objects or fingers it grasped.In the last part of the dexterous grasping experiment,the development and design process of the upper computer and the lower computer to realize the control system is introduced.At the same time,we add a three-degree-of-freedom micro-gravity simulation environment for the space assistant robot AAR-2 equipped with a five-finger dexterous hand.Through the improved PID neural network controller and position-based closed-loop admittance controller,the space robot can move smoothly to the specified position,Select the smart operation mode after confirming that the target position is reached:(1)Perform smart operation according to the corresponding switch type(upper computer operation).(2)Track the real-time finger state collected by the visual camera.The feasibility of control structure and control algorithm is verified by experiments and simulations.