CN105539890B - A kind of apparatus and method for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite - Google Patents
A kind of apparatus and method for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite Download PDFInfo
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- CN105539890B CN105539890B CN201511027890.6A CN201511027890A CN105539890B CN 105539890 B CN105539890 B CN 105539890B CN 201511027890 A CN201511027890 A CN 201511027890A CN 105539890 B CN105539890 B CN 105539890B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
Abstract
A kind of apparatus and method for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite, the present invention relates to the apparatus and method of Three Dimensional Ground space microgravity.The present invention solves the problems, such as not accounting for the motion that space manipulator floats satellite pedestal in three-dimensional space motion and operating process.The device includes two industrial machinery arms；Space manipulator, trick camera, capture paw and interface, service and target satellite body simulator and six-dimensional force/torque sensor composition；This method is by simulated target satellite motion；Determine target satellite position and posture and each joint motions information of space manipulator；Calculate serving satellite body simulator pedestal and industrial machinery arm movable information；Capture interface and capture target satellite body simulator in capture paw region；Simulation realistic objective satellite motion state realizes what the steps such as the motion state of serving satellite body simulator were realized.The present invention is applied to space manipulator Three Dimensional Ground space microgravity simulation field.
Description
Technical field
The present invention relates to the apparatus and method of Three Dimensional Ground space microgravity, more particularly to a kind of simulation space manipulator is caught
Obtain the apparatus and method of the Three Dimensional Ground space microgravity of target satellite.
Background technology
Because space manipulator is when space approaches and captured target satellite operation, its satellite pedestal is typically uncontrolled
, in free floating condition.In space, Space Robot System is in microgravity environment, does not consider terrestrial gravitation generally
It is influenceed, therefore, Space Robot System meets the law of conservation of momentum.When space manipulator moves, it floats satellite base
Seat would generally produce corresponding disturbance.At present, the test of space manipulator is typically what is carried out on the air floating platform of two dimension, its
Do not consider to float the motion of satellite pedestal generally, simply space manipulator is in the motion and operation in two dimensional surface space, itself and sky
Between robot real three-dimensional space motion and operation in space have a very big difference, robot for space in space almost
Not heavy terrestrial gravitation influences, and therefore, its usual armed lever of design is longer, has larger flexibility, on the ground under gravity environment
The operation of three dimensions can not be directly carried out, therefore, it is necessary to develops a set of Three Dimensional Ground space microgravity simulation and checking system
To reproduce the operation for capturing and repairing target satellite in real three dimensions with clarifying space robot, and to the control of correlation
Algorithm and hardware processed are tested.
The content of the invention
The present invention is not account for space manipulator in three-dimensional space motion and operating process to solve existing technology
The problem of motion of middle floating satellite pedestal, and a kind of Three Dimensional Ground space for simulating space manipulator capture target satellite is provided
The apparatus and method of microgravity.
The present invention takes following technical scheme：
A kind of device for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite specifically includes industry
Mechanical arm A, industrial machinery arm T；Space manipulator, trick camera, capture paw, capture interface, serving satellite body simulator,
Target satellite body simulator and six-dimensional force/torque sensor composition；
Described industrial machinery arm A ends are connected with serving satellite body simulator, and serving satellite body simulator passes through
Adpting flange connects the first six-dimensional force/torque sensor；First six-dimensional force/torque sensor passes through adpting flange connection space machine
Tool arm；Space manipulator is connected by bolt with trick camera, and trick camera is bolted capture paw；
Described industrial machinery arm T connects the second six-dimensional force/torque sensor, the second six-dimensional force/power by adpting flange
Square sensor passes through adpting flange linking objective satellite body simulator；Target satellite body simulator connection capture interface；
Wherein, interface is captured with capture paw to match.
A kind of implementation method for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite specifically includes
Following steps：
Step 1: the motion of simulated target satellite；Target satellite body simulator is passed through using kinematics equivalent algorithm
Industrial machinery arm T simulates realistic objective satellite motion state；
Step 2: the vision figure by target satellite body simulator relative movement information in trick camera acquisition step one
Picture, position relative to trick camera and the satellite body simulator of target satellite body simulator are determined according to visual pattern
Posture；
Step 3: relative position and posture that step 2 is determined pass to space mechanism arm controller, space manipulator
Controller determines space manipulator end movement information by relative position and attitude information；According to space manipulator end movement
Information, determine the movable information in each joint of space manipulator；Wherein, the movable information in each joint of space manipulator includes space machine
The joint angular acceleration of tool armWith the joint angular speed of space manipulatorSubscript m is the joint sequence number of space manipulator；
Wherein, space manipulator end is specially the junction of space manipulator and trick camera；
Step 4: the motion of serving satellite body simulator pedestal is calculated according to the movable information in each joint of space manipulator
Information；
Step 5: according to the movable information of serving satellite body simulator pedestal, work is calculated by kinematics equivalent algorithm
Industry mechanical arm A end movement information；Wherein, industrial machinery arm A end is that industrial machinery arm A simulates with serving satellite body
The junction of device；
Step 6: the position and attitude relative to trick camera for determining target satellite body simulator according to visual pattern is sentenced
Disconnecting captures interface whether in the capture region where capturing paw；Carried out if in the capture region where paw is captured
Step 8；If not existing, repeat step one to five；Untill capture interface is in the capture region where capturing paw；
Step 7: the controller control capture paw capture target satellite body simulator of utilization space mechanical arm；
Step 8: after paw capture target satellite body simulator is captured, target satellite body simulator is suffered by
Contact force target satellite body simulator motion state is estimated by algorithm of robot dynamics；
Step 9: the target satellite body simulator motion state estimated according to step 8, passes through the equivalent side of kinematics
Method, simulate the motion state of the realistic objective satellite after industrial machinery arm T stress；
Step 10: according to the capture paw that the first six-dimensional force/torque sensor measures and target satellite body simulator it
Between contact to external force caused by pedestal and moment of face by the algorithm of robot dynamics of space manipulator, calculate serving satellite body mould
Intend the motion state of device, serving satellite body simulator is realized using industrial machinery arm A motion by kinematics equivalent algorithm
Motion state.
Beneficial effect of the present invention：
The present invention relates to a kind of a kind of Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite in space
Apparatus and method, belong to Chinese Space Manipulator Technology field.
The simulation of three dimensions microgravity and verification method on the ground, are defended for carrying out robot for space capture movement target
The three dimensions simulation of star and the experiment and test that reproduce.
1st, the present invention can be with the whole process of true reappearance robot for space capture movement target satellite in three dimensions；
2nd, the present invention can be with the spin of simulated target satellite or tumbling motion；
3rd, the present invention can simulate the disturbance situation of the floating satellite pedestal in robot for space motion process；
4th, the present invention can be with the relative motion control of clarifying space robot and the reliability of algorithm；
5th, the present invention can be with the characteristic of clarifying space robot part real hardware；
6th, the system of the invention can be used for the contact or in-orbit replacing ORU operations that space manipulator captures to moving target
Task checking such as Fig. 7 (a)~Figure 11 (f).
Brief description of the drawings
Fig. 1 is the space manipulator for the industrial robot end that embodiment three proposes to six-dimensional force or moment sensing
The gravity compensation principle schematic of device is；Wherein,
Fig. 2 is the checking of the robot for space Three Dimensional Ground microgravity based on the hardware in loop system that embodiment one proposes
The hardware block diagram of system；Wherein, 2 be space manipulator, and 3 be trick camera, and 4 be capture paw, and 6 be capture interface, and 7 be clothes
Business satellite body simulator, 8 be target satellite body simulator, and 9 be industrial robot A, and 10 be industrial robot T, and 11 be six
Tie up power/torque sensor；
Fig. 3 is the checking of the robot for space Three Dimensional Ground microgravity based on the hardware in loop system that embodiment one proposes
The software architecture diagram of system；Wherein, 12 be visual processes computer, and 13 be space mechanism arm controller, and 16 industrial robot A are controlled
Device processed, 17 industrial robot A joint controls, 22 industrial robot T controllers, 23 industrial robot T joint controls
Fig. 4 is the ground three that the robot for space based on hardware in loop that embodiment one proposes captures target satellite
Tie up microgravity checking system realization principle block diagram；
Fig. 5 is that the target satellite that embodiment three proposes moves simulation and reproduction under space microgravity environment
Realize block diagram；
Fig. 6 is that motion model of the robot for space of the proposition of embodiment two under space microgravity environment reproduces
Realize block diagram；
Fig. 7 (a) be embodiment one propose target satellite body simulator relative to trick camera in x directions
The curve that position changes over time, wherein, transverse axis be the time longitudinal axis be target satellite body simulator relative to trick camera in x
The position in direction
Fig. 7 (b) be embodiment one propose target satellite body simulator relative to trick camera in y directions
The curve that position changes over time, wherein, transverse axis be the time longitudinal axis be target satellite body simulator relative to trick camera in y
The position in direction
Fig. 7 (c) be embodiment one propose target satellite body simulator relative to trick camera in z directions
This map title of the curve that position changes over time claims, wherein, transverse axis is that the time longitudinal axis is target satellite body simulator relative to hand
Eye camera is in the position in z directions
Fig. 7 (d) is appearance of the target satellite body simulator of the proposition of embodiment one relative to trick camera around z-axis
This map title of the curve that state changes over time claims, wherein, transverse axis is that the time longitudinal axis is target satellite body simulator relative to trick
Posture of the camera around z-axis
Fig. 7 (e) is appearance of the target satellite body simulator of the proposition of embodiment one relative to trick camera around y-axis
This map title of the curve that state changes over time claims, wherein, transverse axis is that the time longitudinal axis is target satellite body simulator relative to trick
Posture of the camera around y-axis
Fig. 7 (f) is appearance of the target satellite body simulator of the proposition of embodiment one relative to trick camera around x-axis
This map title of the curve that state changes over time claims, wherein, transverse axis is that the time longitudinal axis is target satellite body simulator relative to trick
Posture of the camera around x-axis
Fig. 8 (a) is x direction change of the space manipulator end of the proposition of embodiment one under its inertial coodinate system
Curve map；
Fig. 8 (b) is y direction change of the space manipulator end of the proposition of embodiment one under its inertial coodinate system
Curve map；
Fig. 8 (c) is z direction change of the space manipulator end of the proposition of embodiment one under its inertial coodinate system
Curve map；
Fig. 9 (a) be embodiment one propose space manipulator end under its inertial coodinate system around x-axis posture
Angle change curve；
Fig. 9 (b) be embodiment one propose space manipulator end under its inertial coodinate system around y-axis posture
Angle change curve；
Fig. 9 (c) be embodiment one propose space manipulator end under its inertial coodinate system around y-axis posture
Angle change curve；
Figure 10 (a) is the expectation joint angle in the joint of space manipulator first that embodiment one proposes and actual joint
The change curve at angle；
Figure 10 (b) is the expectation joint angle for the space manipulator second joint that embodiment one proposes and actual joint
The change curve at angle；
Figure 10 (c) is the expectation joint angle in the joint of space manipulator the 3rd that embodiment one proposes and actual joint
The change curve at angle；
Figure 10 (d) is the expectation joint angle in the joint of space manipulator the 4th that embodiment one proposes and actual joint
The change curve at angle；
Figure 10 (e) is the expectation joint angle in the joint of space manipulator the 5th that embodiment one proposes and actual joint
The change curve at angle；
Figure 10 (f) is the expectation joint angle in the joint of space manipulator the 6th that embodiment one proposes and actual joint
The change curve at angle；
Figure 11 (a) is the x side of the serving satellite simulator pedestal pose for the space manipulator that embodiment one proposes
To change curve schematic diagram；
Figure 11 (b) is the y side of the serving satellite simulator pedestal pose for the space manipulator that embodiment one proposes
To change curve schematic diagram；
Figure 11 (c) is the z side of the serving satellite simulator pedestal pose for the space manipulator that embodiment one proposes
To change curve schematic diagram；
Figure 11 (d) is the x Europe of the serving satellite simulator pedestal pose for the space manipulator that embodiment one proposes
Draw angle change curve schematic diagram；
Figure 11 (e) is the y Europe of the serving satellite simulator pedestal pose for the space manipulator that embodiment one proposes
Draw angle change curve schematic diagram；
Figure 11 (f) is the z Europe of the serving satellite simulator pedestal pose for the space manipulator that embodiment one proposes
Draw angle change curve schematic diagram.
Embodiment
Embodiment one：A kind of Three Dimensional Ground of simulation space manipulator capture target satellite of present embodiment is empty
Between the device of microgravity specifically include industrial machinery arm A9, industrial machinery arm T10；Space manipulator 2, trick camera 3, capture hand
Pawl 4, capture interface 6, serving satellite body simulator 7, target satellite body simulator 8 and six-dimensional force/torque sensor 11
Composition such as Fig. 2；
Present embodiment effect：
It is micro- that present embodiment is related to a kind of a kind of Three Dimensional Ground space of simulation space manipulator capture target satellite in space
The apparatus and method of gravity, belong to Chinese Space Manipulator Technology field.
The simulation of three dimensions microgravity and verification method on the ground, are defended for carrying out robot for space capture movement target
The three dimensions simulation of star and the experiment and test that reproduce.
1st, present embodiment can with true reappearance in three dimensions robot for space capture movement target satellite it is whole
Process；
2nd, present embodiment can be with the spin of simulated target satellite or tumbling motion；
3rd, present embodiment can simulate the disturbance situation of the floating satellite pedestal in robot for space motion process；
4th, present embodiment can be with the relative motion control of clarifying space robot and the reliability of algorithm；
5th, present embodiment can be with the characteristic of clarifying space robot part real hardware；
6th, the present embodiment system can be used for contact or the in-orbit replacing ORU that space manipulator captures to moving target
The task checking such as Fig. 7 (a)~Figure 11 (f) of operation.
Embodiment two：Present embodiment is unlike embodiment one：Described industrial machinery arm A9
End is connected with serving satellite body simulator 7, serving satellite body simulator 7 by adpting flange connect the first six-dimensional force/
Torque sensor 11；First six-dimensional force/torque sensor 11 passes through adpting flange connection space mechanical arm 2；Space manipulator 2 is logical
Cross bolt with trick camera 3 to be connected, trick camera 3 is bolted capture paw 4；
Described industrial machinery arm T10 by adpting flange connect the second six-dimensional force/torque sensor 1, the second six-dimensional force/
Torque sensor 11 passes through adpting flange linking objective satellite body simulator 8；Target satellite body simulator 8 connects capture and connect
Mouth 6,
Wherein, interface 6 is captured with capture paw 4 to match；Described industrial machinery arm A9 is the model of ABB AB's production
For IRB6640-235；Described industrial machinery arm T10 is the model IRB6640-235 of the production of ABB AB；
Described space manipulator 2 is mainly made up of joint and connecting rod, described joint by motor, harmonic speed reducer, absolutely
Position sensor, joint moment sensor and joint control etc. are formed；
Described six-dimensional force/torque sensor 11 is specially the ATI axle power of Delta six or torque sensor.Other steps
And parameter is identical with embodiment one.
Embodiment three：Present embodiment is unlike embodiment one or two：One kind simulation space machine
The implementation method of the Three Dimensional Ground space microgravity of tool arm capture target satellite specifically includes following steps：
Step 1: the motion of simulated target satellite；Target satellite body simulator 8 is passed through using kinematics equivalent algorithm
Industrial machinery arm T10 simulates realistic objective satellite motion state；
Step 2: the vision by the relative movement information of target satellite body simulator 8 in the acquisition step one of trick camera 3
Image, the position relative to trick camera 3 for determining target satellite body simulator 8 according to visual pattern are simulated with satellite body
The posture of device 8；
Step 3: relative position and posture that step 2 is determined pass to the controller of space manipulator 2, space manipulator
2 controllers determine the end movement information of space manipulator 2 by relative position and attitude information；According to the end of space manipulator 2
Movable information, determine the movable information in 2 each joint of space manipulator；Wherein, the movable information in 2 each joint of space manipulator includes
The joint angular acceleration of space manipulatorWith the joint angular speed of space manipulatorSubscript m is the pass of space manipulator
Save sequence number；Wherein, the end of space manipulator 2 is specially the junction of space manipulator 2 and trick camera 3；Space manipulator bag
Include the first rod member, the second rod member, the 3rd rod member and the 4th rod member；
Step 4: the fortune of the pedestal of serving satellite body simulator 7 is calculated according to the movable information in 2 each joint of space manipulator
Dynamic information；
Step 5: according to the movable information of the pedestal of serving satellite body simulator 7, work is calculated by kinematics equivalent algorithm
Industry mechanical arm A9 end movement information；Wherein, industrial machinery arm A9 end is industrial machinery arm A9 and serving satellite body
The junction of simulator 7；
Step 6: the position and attitude relative to trick camera 3 of target satellite body simulator 8 is determined according to visual pattern
Judge to connect capture interface 6 whether in the capture region where capture paw 4；If in the capture region where capture paw 4
Then carry out step 8；If not existing, repeat step one to five；Until capture interface 6 is in the capture region where capture paw 4
Untill；
Step 7: the controller control capture paw 4 of utilization space mechanical arm 2 captures target satellite body simulator 8；
Step 8: after capture target satellite body simulator 8 of paw 4 are captured, target satellite body simulator 8 is according to institute
The contact force received estimates the motion state of target satellite body simulator 8 by algorithm of robot dynamics；
Step 9: the motion state of target satellite body simulator 8 estimated according to step 8, passes through the equivalent side of kinematics
Method, simulate the motion state of the realistic objective satellite after industrial machinery arm T10 stress；
Step 10: according to the capture paw 4 that the first six-dimensional force/torque sensor measures and target satellite body simulator 8
Between contact to external force caused by pedestal and moment of face by the algorithm of robot dynamics of space manipulator, calculate serving satellite body
The motion state of simulator 7, serving satellite body mould is realized using industrial machinery arm A9 motion by kinematics equivalent algorithm
Intend motion state such as Fig. 3 and Fig. 4 of device 7.Other steps and parameter are identical with embodiment one or two.
Embodiment four：Unlike one of present embodiment and embodiment one to three：Mould in step 1
Intend the motion of target satellite；As target satellite body simulator 8 using kinematics equivalent algorithm is passed through industrial machinery arm by Fig. 5
T10 simulates realistic objective satellite motion state detailed process：
(1) target satellite body simulator 8, is transformed into industrial machinery arm T10 ends in the movable information of inertial space
Movable information under base coordinate system；
(2) industrial machinery arm T10 joint, is determined by the Arithmetic of inverse kinematics in industrial machinery arm T10 host computer
Movable information；
(3), by industrial machinery arm T10 internal bus by pass of the joint motions information transmission to industrial machinery arm T10
Save controller, joint control control industrial machinery arm T10 motions.Other steps and parameter and embodiment one to three it
One is identical.
Embodiment five：Unlike one of present embodiment and embodiment one to four：Root in step 3
The movable information of the pedestal of serving satellite body simulator 7 is calculated according to the movable information in 2 each joint of space manipulator；
Motion simulation such as the serving satellite body simulator 7 of Fig. 6 space manipulators 2 mainly passes through space manipulator 2
Algorithm of robot dynamics the movement state information of serving satellite body simulator 7 is calculated, according to serving satellite body simulator 7
Movement state information industrial robot A9 movement state information is obtained by kinematics equivalent algorithm；
(1), solved to obtain serving satellite body simulator 7, space manipulator 2, trick camera 3 according to Lagrange's equation
The kinetics equation representation that system is formed with capture paw 4 is as follows：
In formula, HbFor the inertial tensor of serving satellite body simulator 7；HmThe inertial tensor coupled for space manipulator 2；
HbmThe inertial tensor coupled for the pedestal of serving satellite body simulator 7 and space manipulator 2；For serving satellite body simulator
The acceleration of motion of 7 pedestals；cbFor the non-linear force related to serving satellite body 7 base motions of simulator, cbDefended including service
Star body simulator 7 moves the related centripetal force coriolis force related to base motion；cmCorrelation is moved for space manipulator 2
Non-linear force, cmThe centripetal force that correlation is moved including space manipulator 2 moves related coriolis force to space manipulator 2；cb、cm
∈R6；Fb∈R6To act on the power and torque of serving satellite body simulator 7, Fm∈R6For the driving in the joint of space manipulator 2
Torque；JbTo move related Jacobian matrix to serving satellite body simulator 7；JmIt is related to be moved to space manipulator 2
Jacobian matrix, when the end of space manipulator 2 contacts with environment, i.e., the end of space manipulator 2 is by external force and moment of face Fex∈
R6；
(2) following formula, is derived according to (1) formula：
In formula,The movement velocity of the pedestal of serving satellite body simulator 7 is represented respectively；vbRepresent serving satellite body mould
Intend the linear velocity of the base motion of device 7；ωbThe angular speed of the base motion of serving satellite body simulator 7 is represented respectively.Other steps
And parameter is identical with one of embodiment one to four.
Embodiment six：Unlike one of present embodiment and embodiment one to five：Root in step 4
According to the movable information of the pedestal of serving satellite body simulator 7, pass through kinematics equivalent algorithm calculating industrial machinery arm A9 end
Movable information detailed process is：
(1) serving satellite body simulator, is transformed into industrial machinery arm A9 ends in the movable information of inertial space to exist
Movable information under base coordinate system；
(2), the joint for determining industrial machinery arm A9 by the Arithmetic of inverse kinematics in industrial machinery arm A9 host computer is transported
Dynamic information；
(3), by industrial machinery arm A9 internal bus by joint of the joint motions information transmission to industrial machinery arm A9
Controller, joint control control industrial machinery arm A9 motions.One of other steps and parameter and embodiment one to five
It is identical.
Embodiment seven：Unlike one of present embodiment and embodiment one to six：In step 8 when
After capturing the capture target satellite body of paw 4 simulator 8, target satellite body simulator 8 passes through dynamic according to suffered contact force
Mechanics algorithm estimates the detailed process of the motion state of satellite body simulator 8：
Step 8 one, calculating target satellite body simulator 8 obtain to the gravity compensation of the second six-dimensional force/torque sensor
Gravity and gravitational moment specific formula of the target satellite body simulator 8 under the second six-dimensional force/torque sensor coordinate system are as follows：
In formula, FgRepresent target satellite body 8 gravity under gravimetric(al) coordinates system of simulator；Represent target satellite body
Transformation matrix of the center of gravity of simulator 8 from the second six-dimensional force/torque sensor coordinate system to gravimetric(al) coordinates system；PsTarget is represented to defend
Position vector of the position of centre of gravity of star body simulator 8 under the second six-dimensional force/torque sensor coordinate system；FgsRepresent target satellite
Gravity of the body simulator 8 under the second six-dimensional force/torque sensor coordinate system；TgsTarget satellite body simulator is represented respectively
8 under the second six-dimensional force/torque sensor coordinate system gravitational moment；
Step 8 two, pass through the capture paw 4 that the first six-dimensional force/torque sensor measures and target satellite body simulator
8 contact force and contact torque and gravity of the target satellite body simulator 8 under the second six-dimensional force/torque sensor coordinate system
With gravitational moment mathematic interpolation ftAnd τt, specific formula is as follows：
ft=Fct-Fgs
τt=Tct-Tgs
Wherein, FctRepresent the capture paw 4 and target satellite body simulator 8 of the first six-dimensional force/torque sensor measurement
Contact force；TctRepresent the first six-dimensional force/capture paw 4 of torque sensor measurement and connecing for target satellite body simulator 8
Touch square；ftExternal force of the role of delegate on target satellite body simulator 8；τtRole of delegate is in target satellite body simulator 8
On moment of face；
Step 8 three, assume that target satellite body simulator 8 is a single rotation rigid body, do not considering satellite orbit power
On the premise of, then the kinetics equation of target satellite body simulator 8 represents as follows：
In formula, MtRepresent the quality of target satellite body simulator 8；The line for representing target satellite body simulator 8 accelerates
Degree；ωtThe angular speed of target satellite body simulator 8 is represented respectively；ItThe inertia of target satellite body simulator 8 is represented respectively；Represent the angular acceleration of target satellite body simulator 8；
Based on ignore dynamics of orbits it is assumed that moment of face τtIt is zero before physical contact, is during operating of contacts
Contact torque.Other steps and parameter are identical with one of embodiment one to six.
Embodiment eight：Unlike one of present embodiment and embodiment one to seven：Root in step 10
According to torque sensor measurement capture paw 4 and target satellite body simulator 8 between contact to external force caused by pedestal and outside
Torque calculates the motion state of serving satellite body simulator 7, passes through kinematics by the algorithm of robot dynamics of space manipulator
Equivalent algorithm realizes the motion state detailed process of serving satellite body simulator 7 using industrial machinery arm A9 motion：
(1), such as Fig. 1 is gravity of the space manipulator to the first six-dimensional force/torque sensor of industrial machinery arm A9 ends
Compensation principle schematic diagram；Calculate space manipulator 2 and space manipulator is obtained to the gravity compensation of the first six-dimensional force/torque sensor
2 gravity and the specific formula of gravitational moment under the first six-dimensional force/torque sensor coordinate system is as follows：
In formula, G1Represent gravity of the first rod member of space manipulator 2 under gravimetric(al) coordinates system；Fgs1Represent space mechanism
Gravity of first rod member of arm 2 under the first six-dimensional force/torque sensor coordinate system；Represent the first bar of space manipulator 2
Transformation matrix of the center of gravity of part from the first six-dimensional force/torque sensor coordinate system to gravimetric(al) coordinates system；Tgs1The generation of space manipulator 2
Gravitational moment of first rod member of table space mechanical arm 2 under the first six-dimensional force/torque sensor coordinate system；r1Represent space mechanism
Position vector of the first rod member position of centre of gravity of arm 2 under the first six-dimensional force/torque sensor coordinate system；Represent space mechanism
The overall gravity under the first six-dimensional force/torque sensor coordinate system of arm 2.
G2Represent gravity of the second rod member of space manipulator 2 under gravimetric(al) coordinates system；Fgs2Represent space manipulator 2
Gravity of second rod member under the first six-dimensional force/torque sensor coordinate system；Represent the second rod member of space manipulator 2
Transformation matrix of the center of gravity from the first six-dimensional force/torque sensor coordinate system to gravimetric(al) coordinates system；Tgs2Represent space manipulator 2
Gravitational moment of second rod member under the first six-dimensional force/torque sensor coordinate system；r2Represent the second rod member weight of space manipulator 2
Position vector of the heart position under the first six-dimensional force/torque sensor coordinate system；The entirety for representing space manipulator 2 respectively exists
Gravitational moment under first six-dimensional force/torque sensor coordinate system.
G3Represent gravity of the 3rd rod member of space manipulator 2 under gravimetric(al) coordinates system；Fgs3Represent space manipulator 2
Gravity of 3rd rod member under the first six-dimensional force/torque sensor coordinate system；Represent the 3rd rod member of space manipulator 2
Transformation matrix of the center of gravity from the first six-dimensional force/torque sensor coordinate system to gravimetric(al) coordinates system；Tgs3Space manipulator is represented respectively
Gravitational moment of 2 the 3rd rod member under the first six-dimensional force/torque sensor coordinate system；r3Represent the 3rd bar of space manipulator 2
Position vector of the part position of centre of gravity under the first six-dimensional force/torque sensor coordinate system；
G4Gravity of the 4th rod member of space manipulator 2 under gravimetric(al) coordinates system is represented respectively；Fgs4Space machine is represented respectively
Gravity of 4th rod member of tool arm 2 under the first six-dimensional force/torque sensor coordinate system；Space manipulator 2 is represented respectively
Transformation matrix of the center of gravity of 4th rod member from the first six-dimensional force/torque sensor coordinate system to gravimetric(al) coordinates system；Tgs4Represent respectively
Gravitational moment of 4th rod member of space manipulator 2 under the first six-dimensional force/torque sensor coordinate system；r4Space machine is represented respectively
Position vector of the 4th rod member position of centre of gravity of tool arm 2 under the first six-dimensional force/torque sensor coordinate system；
(2) contact force that, the serving satellite body simulator 7 measured by the first six-dimensional force/torque sensor is subject to and
Contact torque and gravity and gravitational moment mathematic interpolation f of the space manipulator 2 under the first six-dimensional force/torque sensor coordinate systemb
And τb, specific formula is as follows：
fb=Fcb-Fgs
τb=Tcb-Tgs
Wherein, FcbRepresent the contact that the serving satellite body simulator 7 of the first six-dimensional force/torque sensor measurement is subject to
Power；TcbRepresent the contact torque that the serving satellite body simulator 7 of the first six-dimensional force/torque sensor measurement is subject to；
(3), assume that serving satellite body simulator 7 is a rigid body, under the premise of not considering that satellite orbit is dynamic (dynamical),
So the kinetics equation of serving satellite body simulator 7 represents as follows：
Wherein, MbRepresent the quality of the pedestal of serving satellite body simulator 7；Represent base motion linear acceleration；fbRepresent
Power suffered by pedestal；IbRepresent the inertia of the pedestal of serving satellite body simulator 7；Represent base motion line angle acceleration；τbGeneration
Torque suffered by table pedestal.
(4) according to the movable information of the pedestal of serving satellite body simulator 7, industrial machine is calculated by kinematics equivalent algorithm
Tool arm A9 end movement information detailed process is：
1) serving satellite body simulator is transformed into industrial machinery arm A9 ends in base in the movable information of inertial space
Movable information under coordinate system；
2) industrial machinery arm A9 joint motions are determined by the Arithmetic of inverse kinematics in industrial machinery arm A9 host computer
Information；
3) joint of the joint motions information transmission to industrial machinery arm A9 is controlled by industrial machinery arm A9 internal bus
The motion state of serving satellite body simulator 7 is realized in device processed, joint control control industrial machinery arm A9 motions.Other steps
And parameter is identical with one of embodiment one to seven.
Claims (7)
1. a kind of device for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite, it is characterised in that one
Kind simulation space manipulator capture target satellite Three Dimensional Ground space microgravity device specifically include industrial machinery arm A (9),
Industrial machinery arm T (10)；Space manipulator (2), trick camera (3), capture paw (4), capture interface (6), serving satellite sheet
Body simulator (7), target satellite body simulator (8) and six-dimensional force/torque sensor (11) composition；
Described industrial machinery arm A (9) ends are connected with serving satellite body simulator (7), serving satellite body simulator (7)
First six-dimensional force/torque sensor (11) is connected by adpting flange；First six-dimensional force/torque sensor (11) passes through connection method
Blue connection space mechanical arm (2)；Space manipulator (2) is connected by bolt with trick camera (3), and trick camera (3) passes through
Bolt connection capture paw (4)；
Described industrial machinery arm T (10) connects the second six-dimensional force/torque sensor (11) by adpting flange, and second is sextuple
Power/torque sensor (11) passes through adpting flange linking objective satellite body simulator (8)；Target satellite body simulator (8)
Connection capture interface (6)；
Wherein, interface (6) is captured with capture paw (4) to match.
2. a kind of implementation method for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite, its feature exist
In：A kind of implementation method for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite specifically includes following step
Suddenly：
Step 1: the motion of simulated target satellite；Target satellite body simulator (8) is passed through into work using kinematics equivalent algorithm
Industry mechanical arm T (10) simulates realistic objective satellite motion state；
Step 2: the vision by target satellite body simulator (8) relative movement information in trick camera (3) acquisition step one
Image, position relative to trick camera (3) and the satellite body of target satellite body simulator (8) are determined according to visual pattern
The posture of simulator (8)；
Step 3: relative position and posture that step 2 is determined pass to space manipulator (2) controller, space manipulator
(2) controller determines space manipulator (2) end movement information by relative position and attitude information；According to space manipulator
(2) end movement information, the movable information in space manipulator (2) each joint is determined；Wherein, space manipulator (2) each joint
Movable information includes the joint angular acceleration of space manipulatorWith the joint angular speed of space manipulatorSubscript m is sky
The joint sequence number of room machine arm；Wherein, space manipulator (2) end is specially the company of space manipulator (2) and trick camera (3)
Meet place；
Step 4: the fortune of serving satellite body simulator (7) pedestal is calculated according to the movable information in space manipulator (2) each joint
Dynamic information；
Step 5: according to the movable information of serving satellite body simulator (7) pedestal, industry is calculated by kinematics equivalent algorithm
Mechanical arm A (9) end movement information；Wherein, industrial machinery arm A (9) end is industrial machinery arm A (9) and serving satellite
The junction of body simulator (7)；
Step 6: the position and attitude relative to trick camera (3) of target satellite body simulator (8) is determined according to visual pattern
Judge to connect capture interface (6) whether in the capture region where capture paw (4)；If the capture where capture paw (4)
Step 8 is then carried out in region；If not existing, repeat step one to five；Until capture interface (6) is where capture paw (4)
Untill in capture region；
Step 7: controller control capture paw (4) the capture target satellite body simulator (8) of utilization space mechanical arm (2)；
Step 8: after paw (4) capture target satellite body simulator (8) are captured, target satellite body simulator (8) basis
Suffered contact force estimates target satellite body simulator (8) motion state by algorithm of robot dynamics；
Step 9: target satellite body simulator (8) motion state estimated according to step 8, passes through the equivalent side of kinematics
Method, simulate the motion state of the realistic objective satellite after industrial machinery arm T (10) stress；
Step 10: according to the capture paw (4) that the first six-dimensional force/torque sensor measures and target satellite body simulator (8)
Between contact to external force caused by pedestal and moment of face by the algorithm of robot dynamics of space manipulator, calculate serving satellite body
The motion state of simulator (7), serving satellite sheet is realized using industrial machinery arm A (9) motion by kinematics equivalent algorithm
The motion state of body simulator (7).
A kind of 3. reality for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite according to claim 2
Existing method, it is characterised in that：Target satellite body simulator (8) is passed through into industrial machine using kinematics equivalent algorithm in step 1
Tool arm T (10) simulates realistic objective satellite motion state detailed process：
1) target satellite body simulator (8) is transformed into industrial machinery arm T (10) end in the movable information of inertial space to exist
Movable information under base coordinate system；
2) joint for determining industrial machinery arm T (10) by the Arithmetic of inverse kinematics in industrial machinery arm T (10) host computer is transported
Dynamic information；
3) by industrial machinery arm T (10) internal bus by joint of the joint motions information transmission to industrial machinery arm T (10)
Controller, joint control control industrial machinery arm T (10) motions.
A kind of 4. reality for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite according to claim 3
Existing method, it is characterised in that：Serving satellite body mould is calculated according to the movable information in space manipulator (2) each joint in step 3
Intend the movable information of device (7) pedestal；
(1), solved to obtain serving satellite body simulator (7), space manipulator (2), trick camera according to Lagrange's equation
(3) and capture paw (4) composition system kinetics equation representation it is as follows：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>H</mi>
<mi>b</mi>
</msub>
</mtd>
<mtd>
<msub>
<mi>H</mi>
<mrow>
<mi>b</mi>
<mi>m</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msubsup>
<mi>H</mi>
<mrow>
<mi>b</mi>
<mi>m</mi>
</mrow>
<mi>T</mi>
</msubsup>
</mtd>
<mtd>
<msub>
<mi>H</mi>
<mi>m</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mover>
<mi>x</mi>
<mo>&CenterDot;&CenterDot;</mo>
</mover>
<mi>b</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mover>
<mi>q</mi>
<mo>&CenterDot;&CenterDot;</mo>
</mover>
<mi>m</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>c</mi>
<mi>b</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>c</mi>
<mi>m</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>F</mi>
<mi>b</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>F</mi>
<mi>m</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msup>
<msub>
<mi>J</mi>
<mi>b</mi>
</msub>
<mi>T</mi>
</msup>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msup>
<msub>
<mi>J</mi>
<mi>m</mi>
</msub>
<mi>T</mi>
</msup>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<msub>
<mi>F</mi>
<mrow>
<mi>e</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, HbFor the inertial tensor of serving satellite body simulator (7)；HmFor the inertial tensor of space manipulator (2) coupling；
HbmThe inertial tensor coupled for serving satellite body simulator (7) pedestal and space manipulator (2)；For serving satellite body mould
Intend the acceleration of motion of device (7) pedestal；cbFor the non-linear force related to serving satellite body simulator (7) base motion, cbBag
Include the related centripetal force of serving satellite body simulator (7) the motion coriolis force related to base motion；cmFor space manipulator
(2) the related non-linear force of motion, cmIncluding the related centripetal force of space manipulator (2) motion and space manipulator (2) motion
Related coriolis force；cb、cm∈R6；Fb∈R6To act on the power and torque of serving satellite body simulator (7), Fm∈R6For sky
The driving moment in room machine arm (2) joint；JbFor the Jacobian matrix related to serving satellite body simulator (7) motion；JmFor
The Jacobian matrix related to space manipulator (2) motion, space manipulator (2) end is by external force and moment of face Fex∈R6；
(2) following formula is derived according to (1) formula：
<mrow>
<msub>
<mi>H</mi>
<mi>b</mi>
</msub>
<msub>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>b</mi>
</msub>
<mo>+</mo>
<msub>
<mi>H</mi>
<mrow>
<mi>b</mi>
<mi>m</mi>
</mrow>
</msub>
<msub>
<mover>
<mi>q</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>m</mi>
</msub>
<mo>=</mo>
<mn>0</mn>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>b</mi>
</msub>
<mo>=</mo>
<msup>
<mrow>
<mo>&lsqb;</mo>
<msub>
<mi>v</mi>
<mi>b</mi>
</msub>
<mo>,</mo>
<msub>
<mi>&omega;</mi>
<mi>b</mi>
</msub>
<mo>&rsqb;</mo>
</mrow>
<mi>T</mi>
</msup>
<mo>=</mo>
<mo>-</mo>
<msubsup>
<mi>H</mi>
<mi>b</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msubsup>
<mrow>
<mo>(</mo>
<msub>
<mi>H</mi>
<mrow>
<mi>b</mi>
<mi>m</mi>
</mrow>
</msub>
<msub>
<mover>
<mi>q</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>m</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula,The movement velocity of serving satellite body simulator (7) pedestal is represented respectively；vbRepresent the simulation of serving satellite body
The linear velocity of device (7) base motion；ωbThe angular speed of serving satellite body simulator (7) base motion is represented respectively.
A kind of 5. reality for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite according to claim 4
Existing method, it is characterised in that：According to the movable information of serving satellite body simulator (7) pedestal in step 4, pass through kinematics
Equivalent algorithm calculate industrial machinery arm A (9) end movement information detailed process be：
1) serving satellite body simulator is transformed into industrial machinery arm A (9) end in pedestal in the movable information of inertial space
Movable information under mark system；
2) industrial machinery arm A (9) joint motions are determined by the Arithmetic of inverse kinematics in industrial machinery arm A (9) host computer
Information；
3) joint of the joint motions information transmission to industrial machinery arm A (9) is controlled by industrial machinery arm A (9) internal bus
Device processed, joint control control industrial machinery arm A (9) motions.
A kind of 6. reality for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite according to claim 5
Existing method, it is characterised in that：In step 8 after paw (4) capture target satellite body simulator (8) are captured, target satellite sheet
Body simulator (8) estimates the tool of satellite body simulator (8) motion state according to suffered contact force by algorithm of robot dynamics
Body process：
Step 8 one, calculating target satellite body simulator (8) obtain mesh to the gravity compensation of the second six-dimensional force/torque sensor
It is as follows to mark gravity and gravitational moment specific formula of the satellite body simulator (8) under the second six-dimensional force/torque sensor coordinate system：
<mrow>
<msub>
<mi>F</mi>
<mrow>
<mi>g</mi>
<mi>s</mi>
</mrow>
</msub>
<mo>=</mo>
<msubsup>
<mi>R</mi>
<mi>G</mi>
<mi>S</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>F</mi>
<mi>g</mi>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>T</mi>
<mrow>
<mi>g</mi>
<mi>s</mi>
</mrow>
</msub>
<mo>=</mo>
<msub>
<mi>P</mi>
<mi>s</mi>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msubsup>
<mi>R</mi>
<mi>G</mi>
<mi>S</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>F</mi>
<mi>g</mi>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>9</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, FgRepresent gravity of the target satellite body simulator (8) under gravimetric(al) coordinates system；Represent target satellite body mould
Intend transformation matrix of the center of gravity of device (8) from the second six-dimensional force/torque sensor coordinate system to gravimetric(al) coordinates system；PsTarget is represented to defend
Position vector of star body simulator (8) position of centre of gravity under the second six-dimensional force/torque sensor coordinate system；FgsTarget is represented to defend
Gravity of the star body simulator (8) under the second six-dimensional force/torque sensor coordinate system；TgsTarget satellite body mould is represented respectively
Intend device (8) gravitational moment under the second six-dimensional force/torque sensor coordinate system；
Step 8 two, pass through the capture paw (4) that the first six-dimensional force/torque sensor measures and target satellite body simulator
(8) contact force and contact torque is with target satellite body simulator (8) under the second six-dimensional force/torque sensor coordinate system
Gravity and gravitational moment mathematic interpolation ftAnd τt, specific formula is as follows：
ft=Fct-Fgs
τt=Tct-Tgs
Wherein, FctRepresent the capture paw (4) and target satellite body simulator (8) of the first six-dimensional force/torque sensor measurement
Contact force；TctRepresent the capture paw (4) and target satellite body simulator (8) of the first six-dimensional force/torque sensor measurement
Contact torque；ftExternal force of the role of delegate on target satellite body simulator (8)；τtRole of delegate is in target satellite body
Moment of face on simulator (8)；
Step 8 three, assume that target satellite body simulator (8) is a single rotation rigid body, do not considering satellite orbit dynamics
On the premise of, then the kinetics equation of target satellite body simulator (8) represents as follows：
<mrow>
<msub>
<mi>M</mi>
<mi>t</mi>
</msub>
<msub>
<mover>
<mi>v</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>t</mi>
</msub>
<mo>=</mo>
<msub>
<mi>f</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>I</mi>
<mi>t</mi>
</msub>
<msub>
<mover>
<mi>&omega;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>t</mi>
</msub>
<mo>+</mo>
<msub>
<mi>&omega;</mi>
<mi>t</mi>
</msub>
<mo>&times;</mo>
<msub>
<mi>I</mi>
<mi>t</mi>
</msub>
<msub>
<mi>&omega;</mi>
<mi>t</mi>
</msub>
<mo>=</mo>
<msub>
<mi>&tau;</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, MtRepresent the quality of target satellite body simulator (8)；The line for representing target satellite body simulator (8) accelerates
Degree；ωtThe angular speed of target satellite body simulator (8) is represented respectively；ItTarget satellite body simulator (8) is represented respectively
Inertia；Represent the angular acceleration of target satellite body simulator (8).
A kind of 7. reality for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite according to claim 6
Existing method, it is characterised in that：According to the capture paw (4) of the first six-dimensional force/torque sensor and target satellite sheet in step 10
Contact calculates to external force caused by pedestal and moment of face by the algorithm of robot dynamics of space manipulator between body simulator (8)
The motion state of serving satellite body simulator (7), it is real using industrial machinery arm A (9) motion by kinematics equivalent algorithm
The motion state detailed process of existing serving satellite body simulator (7)：
(1) space manipulator (2) is calculated to obtain the gravity compensation of the first six-dimensional force/torque sensor space manipulator (2) and exist
Gravity and the specific formula of gravitational moment under first six-dimensional force/torque sensor coordinate system is as follows：
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mover>
<mi>F</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>g</mi>
<mi>s</mi>
</mrow>
</msub>
<mo>=</mo>
<msub>
<mi>F</mi>
<mrow>
<mi>g</mi>
<mi>s</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>F</mi>
<mrow>
<mi>g</mi>
<mi>s</mi>
<mn>2</mn>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>F</mi>
<mrow>
<mi>g</mi>
<mi>s</mi>
<mn>3</mn>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>F</mi>
<mrow>
<mi>g</mi>
<mi>s</mi>
<mn>4</mn>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>=</mo>
<msubsup>
<mi>R</mi>
<mrow>
<mi>G</mi>
<mn>1</mn>
</mrow>
<mi>S</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>G</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msubsup>
<mi>R</mi>
<mrow>
<mi>G</mi>
<mn>2</mn>
</mrow>
<mi>S</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>G</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<msubsup>
<mi>R</mi>
<mrow>
<mi>G</mi>
<mn>3</mn>
</mrow>
<mi>S</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>G</mi>
<mn>3</mn>
</msub>
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<msubsup>
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<mi>G</mi>
<mn>4</mn>
</mrow>
<mi>S</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>G</mi>
<mn>4</mn>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mover>
<mi>T</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>g</mi>
<mi>s</mi>
</mrow>
</msub>
<mo>=</mo>
<msub>
<mi>F</mi>
<mrow>
<mi>g</mi>
<mi>s</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>F</mi>
<mrow>
<mi>g</mi>
<mi>s</mi>
<mn>2</mn>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>F</mi>
<mrow>
<mi>g</mi>
<mi>s</mi>
<mn>3</mn>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>F</mi>
<mrow>
<mi>g</mi>
<mi>s</mi>
<mn>4</mn>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>=</mo>
<msub>
<mi>r</mi>
<mn>1</mn>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msubsup>
<mi>R</mi>
<mrow>
<mi>G</mi>
<mn>1</mn>
</mrow>
<mi>S</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>G</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>2</mn>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msubsup>
<mi>R</mi>
<mrow>
<mi>G</mi>
<mn>2</mn>
</mrow>
<mi>S</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>G</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>3</mn>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msubsup>
<mi>R</mi>
<mrow>
<mi>G</mi>
<mn>3</mn>
</mrow>
<mi>S</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>G</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>r</mi>
<mn>4</mn>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<msubsup>
<mi>R</mi>
<mrow>
<mi>G</mi>
<mn>4</mn>
</mrow>
<mi>S</mi>
</msubsup>
<mo>&CenterDot;</mo>
<msub>
<mi>G</mi>
<mn>4</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
In formula, G1Represent gravity of the first rod member of space manipulator (2) under gravimetric(al) coordinates system；Fgs1Represent space manipulator
(2) gravity of the first rod member under the first six-dimensional force/torque sensor coordinate system；Represent the first of space manipulator (2)
Transformation matrix of the center of gravity of rod member from the first six-dimensional force/torque sensor coordinate system to gravimetric(al) coordinates system；Tgs1Space manipulator
(2) gravitational moment of the first rod member of space manipulator (2) under the first six-dimensional force/torque sensor coordinate system is represented；r1Represent
Position vector of the first rod member position of centre of gravity of space manipulator (2) under the first six-dimensional force/torque sensor coordinate system；Generation
The overall gravity under the first six-dimensional force/torque sensor coordinate system of table space mechanical arm (2)；
G2Represent gravity of the second rod member of space manipulator (2) under gravimetric(al) coordinates system；Fgs2Represent the of space manipulator (2)
Gravity of two rod members under the first six-dimensional force/torque sensor coordinate system；Represent the second rod member of space manipulator (2)
Transformation matrix of the center of gravity from the first six-dimensional force/torque sensor coordinate system to gravimetric(al) coordinates system；Tgs2Represent space manipulator (2)
Gravitational moment of second rod member under the first six-dimensional force/torque sensor coordinate system；r2Represent the second bar of space manipulator (2)
Position vector of the part position of centre of gravity under the first six-dimensional force/torque sensor coordinate system；Space manipulator (2) is represented respectively
The overall gravitational moment under the first six-dimensional force/torque sensor coordinate system；
G3Represent gravity of the 3rd rod member of space manipulator (2) under gravimetric(al) coordinates system；Fgs3Represent the of space manipulator (2)
Gravity of three rod members under the first six-dimensional force/torque sensor coordinate system；Represent the 3rd rod member of space manipulator (2)
Transformation matrix of the center of gravity from the first six-dimensional force/torque sensor coordinate system to gravimetric(al) coordinates system；Tgs3Space manipulator is represented respectively
(2) gravitational moment of the 3rd rod member under the first six-dimensional force/torque sensor coordinate system；r3Represent the of space manipulator (2)
Position vector of the three rod member position of centre of gravitys under the first six-dimensional force/torque sensor coordinate system；
G4Gravity of the 4th rod member of space manipulator (2) under gravimetric(al) coordinates system is represented respectively；Fgs4Space mechanism is represented respectively
Gravity of 4th rod member of arm (2) under the first six-dimensional force/torque sensor coordinate system；Space manipulator (2) is represented respectively
The 4th rod member transformation matrix of the center of gravity from the first six-dimensional force/torque sensor coordinate system to gravimetric(al) coordinates system；Tgs4Generation respectively
Gravitational moment of 4th rod member of table space mechanical arm (2) under the first six-dimensional force/torque sensor coordinate system；r4Sky is represented respectively
Position vector of the 4th rod member position of centre of gravity of room machine arm (2) under the first six-dimensional force/torque sensor coordinate system；
(2) contact force and contact that the serving satellite body simulator (7) measured by the first six-dimensional force/torque sensor is subject to
Torque and gravity and gravitational moment mathematic interpolation f of the space manipulator (2) under the first six-dimensional force/torque sensor coordinate systembWith
τb, specific formula is as follows：
fb=Fcb-Fgs
τb=Tcb-Tgs
Wherein, FcbRepresent the contact force that the serving satellite body simulator (7) of the first six-dimensional force/torque sensor measurement is subject to；
TcbRepresent the contact torque that the serving satellite body simulator (7) of the first six-dimensional force/torque sensor measurement is subject to；
(3), assume that serving satellite body simulator (7) is a rigid body, under the premise of not considering that satellite orbit is dynamic (dynamical), that
The kinetics equation of serving satellite body simulator (7) represents as follows：
<mrow>
<msub>
<mi>M</mi>
<mi>b</mi>
</msub>
<msub>
<mover>
<mi>v</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>b</mi>
</msub>
<mo>=</mo>
<msub>
<mi>f</mi>
<mi>b</mi>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>4</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>I</mi>
<mi>b</mi>
</msub>
<msub>
<mover>
<mi>&omega;</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>b</mi>
</msub>
<mo>+</mo>
<msub>
<mi>&omega;</mi>
<mi>b</mi>
</msub>
<mo>&times;</mo>
<msub>
<mi>I</mi>
<mi>b</mi>
</msub>
<msub>
<mi>&omega;</mi>
<mi>b</mi>
</msub>
<mo>=</mo>
<msub>
<mi>&tau;</mi>
<mi>b</mi>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, MbRepresent the quality of serving satellite body simulator (7) pedestal；Represent base motion linear acceleration；fbRepresent base
Power suffered by seat；IbRepresent the inertia of serving satellite body simulator (7) pedestal；Represent base motion line angle acceleration；τbGeneration
Torque suffered by table pedestal；
(4) according to the movable information of serving satellite body simulator (7) pedestal, industrial machinery is calculated by kinematics equivalent algorithm
Arm A (9) end movement information detailed process is：
1) serving satellite body simulator is transformed into industrial machinery arm A (9) end in pedestal in the movable information of inertial space
Movable information under mark system；
2) industrial machinery arm A (9) joint motions are determined by the Arithmetic of inverse kinematics in industrial machinery arm A (9) host computer
Information；
3) joint of the joint motions information transmission to industrial machinery arm A (9) is controlled by industrial machinery arm A (9) internal bus
The motion state of serving satellite body simulator (7) is realized in device processed, joint control control industrial machinery arm A (9) motions.
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| CN106275519B (en) * | 2016-08-30 | 2018-09-25 | 电子科技大学 | Package pick-and-place manipulator in a kind of space cabins |
| CN107244432B (en) * | 2017-06-07 | 2019-05-07 | 北京航空航天大学 | Free pedestal Spatial Cooperation task motion reappearance experimental system |
| CN108408089B (en) * | 2018-03-15 | 2021-11-23 | 哈尔滨工业大学 | Ground physical simulation test method aiming at space spinning target capture and racemization |
| CN108614571B (en) * | 2018-04-28 | 2021-03-02 | 上海微小卫星工程中心 | Satellite attitude control test method based on optical sensor |
| CN108621202B (en) * | 2018-05-15 | 2020-12-25 | 清华大学深圳研究生院 | Multi-arm space robot cooperative fine operation ground experiment system |
| CN108956003B (en) * | 2018-07-17 | 2020-10-20 | 崧智智能科技(苏州)有限公司 | Method and device for calibrating six-dimensional sensor posture in real time and terminal equipment |
| CN109250157B (en) * | 2018-07-25 | 2022-02-08 | 西北工业大学 | Space non-cooperative target capturing method based on trial touch and derotation |
| CN109606753B (en) * | 2018-11-11 | 2022-03-29 | 上海宇航系统工程研究所 | Control method for cooperatively capturing target by space double-arm robot |
| CN109500836A (en) * | 2018-11-15 | 2019-03-22 | 上海宇航系统工程研究所 | Space inert satellite manipulates comprehensive test system |
| CN109606754A (en) * | 2018-11-15 | 2019-04-12 | 上海宇航系统工程研究所 | The ground simulation system of the spacecraft of configuration space mechanical arm |
| CN109733649B (en) * | 2018-12-11 | 2022-02-22 | 上海航天控制技术研究所 | Non-complete connection constraint state ground simulation method for space combination spacecraft |
| CN111268183A (en) * | 2020-03-01 | 2020-06-12 | 中国科学院微小卫星创新研究院 | Space-borne space manipulator |
| CN111872938B (en) * | 2020-07-30 | 2022-01-25 | 清华大学 | Spatial three-dimensional large-scale kinematics simulation system and method |
| CN113291495B (en) * | 2021-06-25 | 2023-05-09 | 安徽应流集团霍山铸造有限公司 | Space mechanical arm based on flexible belt winding and unwinding and rigid-flexible conversion mechanism |
| CN113247318B (en) * | 2021-06-28 | 2022-05-31 | 哈尔滨工业大学 | Non-cooperative target rolling motion spin-up simulation system and method |
| CN114721296B (en) * | 2022-05-18 | 2022-08-23 | 伸瑞科技（北京）有限公司 | Spatial non-cooperative target capturing, controlling and assembly control test device and method |
| CN114910207A (en) * | 2022-05-18 | 2022-08-16 | 伸瑞科技（北京）有限公司 | Space control complex coupling dynamic characteristic measuring device and measuring method |
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| CN102294690B (en) * | 2011-05-12 | 2013-07-03 | 哈尔滨工业大学 | Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking |
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