CN104690726A - Motion control system for space manipulator - Google Patents
Motion control system for space manipulator Download PDFInfo
- Publication number
- CN104690726A CN104690726A CN201410438948.5A CN201410438948A CN104690726A CN 104690726 A CN104690726 A CN 104690726A CN 201410438948 A CN201410438948 A CN 201410438948A CN 104690726 A CN104690726 A CN 104690726A
- Authority
- CN
- China
- Prior art keywords
- control
- module
- joint
- motion controller
- power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
Abstract
The invention discloses a motion control system for an on-orbit operation space manipulator, and a multi-joint synergy and fault-tolerance processing control method conducted by the system. The control system comprises a power management unit A, a motion controller unit B, a dual-redundancy CAN bus, and an execution unit C, wherein the power management unit A is used for adjusting power input of each module; the motion controller unit B is used for analyzing and computing information and sending instructions to an execution end.
Description
Technical field
The present invention relates to use in a kind of space industry, for the kinetic control system of operating space mechanical arm in-orbit, this system can utilize the input instructions such as communication interface receiving target posture information, Remote operation information, the operation such as carry out the SECO of manipulator motion, planning algorithm resolves, tandem type multi-degree-of-freemechanical mechanical arm is driven to move in space, and superior telemetry system passback operating state data.
Background technology
The step explored along with the mankind strides forward towards more far-reaching space, and the unmanned systems turning to representative with automation and intelligence is replacing the mankind to become the soldier at the head of a formation of survey of deep space.Kinetic control system becomes the important composition that the design objects such as the control of responsible tandem type manipulator motion, robotics clearing, the generation of multi-joint Collaborative Control rate, distributed system Synchronization Control realize.
Summary of the invention
Technical problem to be solved by this invention is, provides a kind of kinetic control system being suitable for operating space mechanical arm in-orbit.This system can plan as a whole distributed system resource, according to input information, as object pose information, long-range intervention instruction, torque command etc., resolved by kinematics, dynamics, determine suitable control rate, then according to certain control bandwidth, drive multiple degrees of freedom series connection manipulator motion, thus lay the foundation for the realization of operation in-orbit.
The technical characterstic of kinetic control system of the present invention is as follows:
(1) the one or more multiple degrees of freedom space manipulator of control can be managed as a whole, there is good versatility and autgmentability;
(2) multi-joint is worked in coordination with and is had good real-time and synchronism;
(3) a kind of motion control framework being applicable to apply in space and the distributed system with certain fault-tolerant ability is possessed;
(4) based on the distributed communication system of dual-redundant CAN bus, there is fault-tolerant ability and higher reliability.
(5) there is identification and the re-configurability of simple joint fault.When after certain joint lost contact, system results analysis determines that this knuckle failure then starts reconfiguration program, the control utilize existing joint of mechanical arm resource to re-establish manipulator model, to calculate planning algorithm, realizing falling performance, protecting function exports, and further increases the reliability of system.
This technical scheme is existing application in space technology, and compared with the motion control of space manipulator in current existing space technology, overall target of the present invention is significantly increased.
Accompanying drawing explanation
Accompanying drawing 1 is the system architecture schematic diagram of the application's space manipulator kinetic control system, wherein:
A-power supply administrative unit, B motion controller unit, C performance element, A1 joint control electricity output module, A2 power power-supply output module, A3 motion control power exports, B1 secondary power supply module, B2 relay control module, B3 memory module.
Detailed description of the invention
Space manipulator kinetic control system described in the application, as shown in Figure 1, comprises PMU A, inputs for regulating the electric power of each module; Motion controller unit B, in order to complete information analysis computing, to actuating station issuing command; Dual-redundant CAN bus; And performance element C, as some joint controls, end effector controller etc.
PMU A accesses+28V power supply, and comprises joint control electricity output module A1, power power-supply output module A2, and motion control power exports A3.Wherein, joint control electricity output module A1 and power power-supply output module A2 output front end be provided with relay management and protection module A4 with implements protect.
Motion controller unit B, is connected with upper level control unit interface by one-level bus RS422.Motion controller comprises the secondary power supply module B1 receiving motion control power input, in order to carry out the relay control module B2 of relay protection to PMU, arithmetic processor CPU, memory module B3.Motion controller unit B is connected with performance element by dual-redundant CAN bus.
Performance element C, comprises such as some joint controls, end effector controller C1 ... Cn etc.Joint control comprises power module C1a, and it comprises control power supply C1a ' (secondary power supply/control) and driving power C1a " (secondary power supply/drive); Phase/bus current acquisition module C1b, CPU, drive motors C1c, and temperature sensor C1s, torque sensor C1s ', the position sensor C1s for collecting actuating station implementation status ", torque sensor C1s ' is connected with moment sensing conditioning plate C1d.
End effector controller Cna, comprises and such as controls power supply Cna ' (secondary power supply/control) and driving power Can " (secondary power supply/drive); Phase/bus current acquisition module Cnb, CPU, drive motors Cnc, and temperature sensor Cns, the position sensor Cns ' for collecting end implementation status.
The torque sensor conditioning plate be wherein connected with the torque sensor of actuator controller is used to carry out nursing one's health the assembly amplified to the weak voltage signals that elastomer exports, joint control provides+12V voltage to conditioning plate, conditioning plate powers to after voltage stabilizing elastomer electric bridge, and receive its mV level sensing voltage signal exported, conditioning plate is by after this small signals amplification, convert ± the voltage signal of 10V to, corresponding elastomeric positive and negative full scale.Joint control carries out AD collection to it after receiving this signal, thus obtains moment sensing information.
Wherein, in performance element C, joint control is responsible for the function such as acquisition process, command reception parsing, status information feedback, joint servo calculating, power drive output of simple joint heat transfer agent.Terminal controller is responsible for the function such as heat transfer agent acquisition process, command reception parsing, status information feedback, servo calculating, power drive output of end effector.
This control system can be collected and gathered all actuating station data messages and plan as a whole managing and control system resource, and carries out decision-making and management according to central controller CPU and the motion control behavior of sensor-based system to mechanical arm.
The multi-joint that this control system realizes is worked in coordination with and fault-tolerant processing control method, and specific strategy is:
(1) dual-redundant CAN bus control is only had by motion controller B
(2) all joints are by motion controller B number consecutively and ID address is fixed in distribution;
(3) when system enters motion control process, motion controller sends the control instruction of current bat to No. 1 node (joint), No. 1 node sends return data to motion controller B after receiving instruction immediately, in like manner, other nodes operate successively, send with mutual until complete instruction with all nodes.
(4) when motion controller B determines and all nodes occur alternately, trigger all nodes by the mode of broadcast frame and perform work of originally flapping simultaneously, ensure multi-axial Simultaneous with this.
(5) above-mentioned (3), (4) two step operations must complete in a control cycle.
(6) suppose that motion controller sends instruction to a certain node, in certain hour t, fail to receive the handshake data frame that this joint returns, then again send these frame data, and altogether send 3 times.If still fail to receive range data of shaking hands in 3 cycles of shaking hands, then can think this node failure.
(7) if motion controller B has detected failure node, then analyze and can finish the work in this condition, if can, reintegrate system resource and again plan.If not all right, then send alarm.
(8) if certain node failure detected, motion controller still continues when sending distributed AC servo system instruction to send instruction to this node, if receive handshake (shaking hands for 3 times all successful), then think that this node is replied from failure state, controller will be reintegrated system resource and to lay equal stress on new planning.
Claims (8)
1. a space manipulator kinetic control system, comprises PMU A, inputs for regulating the electric power of each module; Motion controller unit B, in order to complete information analysis computing, to actuating station issuing command; Dual-redundant CAN bus; And performance element C.
2. space manipulator kinetic control system according to claim 1, wherein PMU A accesses outside+28V power supply, and comprises joint control electricity output module A1, power power-supply output module A2, and motion control power exports A3.
3. space manipulator kinetic control system according to claim 2, wherein, the output front end of the joint control of PMU A electricity output module A1 and power power-supply output module A2 is provided with relay management and protection module to implement to protect.
4. space manipulator kinetic control system according to claim 1; wherein motion controller comprises the secondary power supply module B1 receiving motion control power input; in order to carry out the relay control module B2 of relay protection to PMU, arithmetic processor CPU, memory module B3.
5. space manipulator kinetic control system according to claim 4, wherein motion controller unit B, be connected with upper level control unit interface by one-level bus RS422, and be connected with performance element C by dual-redundant CAN bus.
6. space manipulator kinetic control system according to claim 1, wherein performance element C, comprises some joint controls, end effector controller C1 ... Cn, wherein,
Joint control comprises power module C1a, and it comprises secondary power supply and controls power supply C1a ' and secondary power supply driving power C1a "; Phase/bus current acquisition module C1b, CPU, drive motors C1c, and temperature sensor C1s, torque sensor C1s ', the position sensor C1s for collecting actuating station implementation status ", torque sensor C1s ' is connected with moment sensing conditioning plate C1d;
End effector controller Cna, comprises such as secondary power supply and controls power supply Cna ' and secondary power supply driving power Can "; Phase/bus current acquisition module Cnb, CPU, drive motors Cnc, and temperature sensor Cns, the position sensor Cns ' for collecting end implementation status.
7. space manipulator kinetic control system according to claim 6, wherein, in performance element C, joint control is responsible for the function such as acquisition process, command reception parsing, status information feedback, joint servo calculating, power drive output of simple joint heat transfer agent;
Terminal controller is responsible for the function such as heat transfer agent acquisition process, command reception parsing, status information feedback, servo calculating, power drive output of end effector.
8. the multi-joint of the space manipulator kinetic control system as described in claim 1-7 is worked in coordination with and fault-tolerant processing control method:
(1) dual-redundant CAN bus control is only had by motion controller B;
(2) all joints are by motion controller B number consecutively and ID address is fixed in distribution;
(3) when system enters motion control process, motion controller sends the control instruction of current bat to No. 1 node, No. 1 node sends return data to motion controller B after receiving instruction immediately, in like manner, other nodes operate successively, send with mutual until complete instruction with all nodes;
(4) when motion controller B determines and all nodes occur alternately, trigger all nodes by the mode of broadcast frame and perform work of originally flapping simultaneously, ensure multi-axial Simultaneous with this;
(5) above-mentioned (3), (4) two step operations must complete in a control cycle;
(6) suppose that motion controller sends instruction to a certain node, in certain hour t, fail to receive the handshake data frame that this joint returns, then again send these frame data, and altogether send 3 times; If still fail to receive range data of shaking hands in 3 cycles of shaking hands, then can think this node failure;
(7) if motion controller B has detected failure node, then analyze and can finish the work in this condition, if can, reintegrate system resource and again plan; If not all right, then send alarm;
(8) if certain node failure detected, motion controller still continues when sending distributed AC servo system instruction to send instruction to this node, if receive handshake and shake hands for 3 times all successful, then think that this node is replied from failure state, controller will be reintegrated system resource and to lay equal stress on new planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410438948.5A CN104690726B (en) | 2014-08-29 | 2014-08-29 | A kind of space manipulator kinetic control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410438948.5A CN104690726B (en) | 2014-08-29 | 2014-08-29 | A kind of space manipulator kinetic control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104690726A true CN104690726A (en) | 2015-06-10 |
| CN104690726B CN104690726B (en) | 2017-06-16 |
Family
ID=53338473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410438948.5A Active CN104690726B (en) | 2014-08-29 | 2014-08-29 | A kind of space manipulator kinetic control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104690726B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182847A (en) * | 2015-08-27 | 2015-12-23 | 北京精密机电控制设备研究所 | High-reliability dual-redundant CAN bus communication method applied in motion control system |
| CN106041929A (en) * | 2016-06-24 | 2016-10-26 | 南京工程学院 | Control method used for six-freedom-degree robot |
| CN106406097A (en) * | 2016-11-08 | 2017-02-15 | 长春工业大学 | Distributed adaptive coordinated control method for multi-manipulator systems |
| CN107336239A (en) * | 2017-07-05 | 2017-11-10 | 广东工业大学 | A kind of robot end's Electronic Actuator Control System |
| CN107717955A (en) * | 2017-09-29 | 2018-02-23 | 中国科学院空间应用工程与技术中心 | A kind of four-degree-of-freedom inspection mechanical arm and its control system, control method |
| CN107745382A (en) * | 2017-09-29 | 2018-03-02 | 李少锋 | The synchronous control system of robotic arm |
| CN108638063A (en) * | 2018-05-11 | 2018-10-12 | 清华大学 | A kind of 3P3R mechanical arm tail end power methods of estimation measured based on current of electric |
| CN108890644A (en) * | 2018-06-27 | 2018-11-27 | 清华大学 | A kind of multi-axial Simultaneous method for planning track, system and computer readable storage medium |
| CN110900607A (en) * | 2019-12-09 | 2020-03-24 | 中建科技有限公司深圳分公司 | Robot control method and device |
| CN111645068A (en) * | 2020-05-15 | 2020-09-11 | 深圳国信泰富科技有限公司 | Action control method and system and intelligent robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002222033A (en) * | 2001-01-29 | 2002-08-09 | Nec Corp | Power-saving system, and task power-saving method and its program |
| CN101020313A (en) * | 2007-03-08 | 2007-08-22 | 华中科技大学 | Motion controller for modular embedded polypod robot |
| CN101293350A (en) * | 2008-06-12 | 2008-10-29 | 上海交通大学 | Apery robot distributed dual-bus motion control system |
| CN101947788A (en) * | 2010-06-23 | 2011-01-19 | 焦利民 | Intelligent robot |
| CN202997981U (en) * | 2012-11-03 | 2013-06-12 | 安徽工程大学 | Multi-axis motion AC servo control system based on SERCOS bus and CAN bus |
| CN103705352A (en) * | 2013-12-27 | 2014-04-09 | 南京升泰元机器人科技有限公司 | Intelligent wheelchair based on brain-computer interface and control system and control method thereof |
-
2014
- 2014-08-29 CN CN201410438948.5A patent/CN104690726B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002222033A (en) * | 2001-01-29 | 2002-08-09 | Nec Corp | Power-saving system, and task power-saving method and its program |
| CN101020313A (en) * | 2007-03-08 | 2007-08-22 | 华中科技大学 | Motion controller for modular embedded polypod robot |
| CN101293350A (en) * | 2008-06-12 | 2008-10-29 | 上海交通大学 | Apery robot distributed dual-bus motion control system |
| CN101947788A (en) * | 2010-06-23 | 2011-01-19 | 焦利民 | Intelligent robot |
| CN202997981U (en) * | 2012-11-03 | 2013-06-12 | 安徽工程大学 | Multi-axis motion AC servo control system based on SERCOS bus and CAN bus |
| CN103705352A (en) * | 2013-12-27 | 2014-04-09 | 南京升泰元机器人科技有限公司 | Intelligent wheelchair based on brain-computer interface and control system and control method thereof |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182847A (en) * | 2015-08-27 | 2015-12-23 | 北京精密机电控制设备研究所 | High-reliability dual-redundant CAN bus communication method applied in motion control system |
| CN106041929A (en) * | 2016-06-24 | 2016-10-26 | 南京工程学院 | Control method used for six-freedom-degree robot |
| CN106041929B (en) * | 2016-06-24 | 2018-03-30 | 南京工程学院 | A kind of control method for six-DOF robot |
| CN106406097A (en) * | 2016-11-08 | 2017-02-15 | 长春工业大学 | Distributed adaptive coordinated control method for multi-manipulator systems |
| CN106406097B (en) * | 2016-11-08 | 2019-05-14 | 长春工业大学 | The distributed self-adaption control method for coordinating of Multi-arm robots |
| CN107336239A (en) * | 2017-07-05 | 2017-11-10 | 广东工业大学 | A kind of robot end's Electronic Actuator Control System |
| CN107717955A (en) * | 2017-09-29 | 2018-02-23 | 中国科学院空间应用工程与技术中心 | A kind of four-degree-of-freedom inspection mechanical arm and its control system, control method |
| CN107745382A (en) * | 2017-09-29 | 2018-03-02 | 李少锋 | The synchronous control system of robotic arm |
| CN107717955B (en) * | 2017-09-29 | 2024-03-19 | 中国科学院空间应用工程与技术中心 | Space four-degree-of-freedom inspection mechanical arm and control system and control method thereof |
| CN108638063B (en) * | 2018-05-11 | 2020-04-24 | 清华大学 | 3P3R mechanical arm tail end force estimation method based on motor current measurement |
| CN108638063A (en) * | 2018-05-11 | 2018-10-12 | 清华大学 | A kind of 3P3R mechanical arm tail end power methods of estimation measured based on current of electric |
| CN108890644A (en) * | 2018-06-27 | 2018-11-27 | 清华大学 | A kind of multi-axial Simultaneous method for planning track, system and computer readable storage medium |
| CN108890644B (en) * | 2018-06-27 | 2020-06-30 | 清华大学 | Multi-axis synchronous trajectory planning method and system and computer readable storage medium |
| CN110900607B (en) * | 2019-12-09 | 2021-03-02 | 中建科技有限公司深圳分公司 | Robot control method and device |
| CN110900607A (en) * | 2019-12-09 | 2020-03-24 | 中建科技有限公司深圳分公司 | Robot control method and device |
| CN111645068A (en) * | 2020-05-15 | 2020-09-11 | 深圳国信泰富科技有限公司 | Action control method and system and intelligent robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104690726B (en) | 2017-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104690726A (en) | Motion control system for space manipulator | |
| Zhai et al. | Adaptive fuzzy control of multilateral asymmetric teleoperation for coordinated multiple mobile manipulators | |
| Sadeghian et al. | Null-space impedance control with disturbance observer | |
| Zhong et al. | Fuzzy adaptive PID fast terminal sliding mode controller for a redundant manipulator | |
| CN109352661A (en) | A kind of control method of joint of robot, servo drive and can storage medium | |
| Markus et al. | Coordination control of robot manipulators using flat outputs | |
| CN112296995B (en) | Robot cooperation carrying system | |
| Peternel et al. | Human arm posture optimisation in bilateral teleoperation through interface reconfiguration | |
| Cheng et al. | Consensus of second-order multi-agent systems with directed networks using relative position measurements only | |
| Ma et al. | Multidesign integration based adaptive actuator failure compensation control for two linked 2WD mobile robots | |
| Xu et al. | A wireless reconfigurable modular manipulator and its control system | |
| Arjun et al. | An end to end tactile cyber physical system design | |
| Xia et al. | Hybrid force/position control of industrial robotic manipulator based on Kalman filter | |
| Parvin et al. | Human-Machine Interface (HMI) Robotic Arm Controlled by Gyroscopically Acceleration | |
| Cheng et al. | A communication-based multirobot rigid formation control system: design and analysis | |
| Zhou et al. | Distributed operation health monitoring for modular and reconfigurable robot with consideration of actuation limitation | |
| Han et al. | Reconfigurable wireless control system for a dual-arm cooperative robotic system | |
| Markus | Differential flatness based synchronization control of multiple heterogeneous robots | |
| Ahmed et al. | Neural net tracking control of a mobile platform in robotized wireless sensor networks | |
| Hayashi et al. | Polycentric Framework for Robotic Kinematics | |
| Jin et al. | The electrical simulator for the space station manipulator under Linux/RTAI | |
| Torres et al. | Synchronization of robot manipulators actuated by induction motors with velocity estimator | |
| Schonlau | MMS: a modular robotic system and model-based control architecture | |
| Kallu et al. | Tele-operated bilateral control of hydraulic servo system using estimated reaction force of end effector by SMCSPO | |
| Tian et al. | Hierarchical terminal sliding mode control for underactuated space robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |