CN104690726B - A kind of space manipulator kinetic control system - Google Patents
A kind of space manipulator kinetic control system Download PDFInfo
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- CN104690726B CN104690726B CN201410438948.5A CN201410438948A CN104690726B CN 104690726 B CN104690726 B CN 104690726B CN 201410438948 A CN201410438948 A CN 201410438948A CN 104690726 B CN104690726 B CN 104690726B
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- control
- joint
- motion controller
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Classifications
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- 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
Multi-joint collaboration and fault-tolerant processing control method that the kinetic control system and the system of a kind of in-orbit operating space mechanical arm are carried out.Wherein the control system includes PMU A, and the electric power for adjusting each module is input into；Motion controller unit B, is used to complete information analysis computing, sends instruction to actuating station；Dual-redundant CAN bus；And execution unit C.
Description
Technical field
The present invention relates to kinetic control system being used in a kind of space industry, for in-orbit operating space mechanical arm,
The system can receive the input instructions such as object pose information, Remote operation information using communication interface, carry out mechanical arm
The operations such as SECO, the planning algorithm resolving of motion, drive tandem type multi-degree-of-freemechanical mechanical arm to be moved in space, and
Superior telemetry system returns operating state data.
Background technology
As the step that the mankind explore is strided forward towards more far-reaching space, nobody of representative is turned to automation and intelligence
System is replacing the soldier at the head of a formation of the mankind as survey of deep space.Kinetic control system turns into is responsible for tandem type manipulator motion control
The important set that the design objects such as system, robotics clearing, the generation of multi-joint Collaborative Control rate, distributed system Synchronization Control are realized
Into.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of motion control for being suitable for in-orbit operating space mechanical arm
System.The system can plan as a whole distributed system resource, according to input information, such as object pose information, long-range interventional instruction, power
Square instruction etc., is resolved by kinematics, dynamics, determines suitable control rate, then according to certain control bandwidth, is driven
Multiple degrees of freedom series connection manipulator motion, so that for the realization of in-orbit operation lays the foundation.
The technical characterstic of kinetic control system of the invention is as follows：
(1) can manage as a whole and control one or more multiple degrees of freedom space manipulators, with preferable versatility and expansion
Malleability；
(2) multi-joint collaboration has good real-time and synchronism；
(3) possess a kind of motion control framework suitable for space application and the distributed system with certain fault-tolerant ability
System；
(4) distributed communication system based on dual-redundant CAN bus, with fault-tolerant ability and reliability higher.
(5) identification and re-configurability with simple joint failure.After certain joint lost contact, system results analysis determines the pass
Section failure then start reconfiguration program, using existing joint of mechanical arm resource re-establish manipulator model, calculate planning algorithm,
Realize drop performance, protect the controlled output of function, further increase the reliability of system.
This technical scheme has been applied in space technology, the motion with space manipulator in current existing space technology
Control is compared, and overall target of the invention is significantly increased.
Brief description of the drawings
Accompanying drawing 1 is the system structure diagram of the application space manipulator kinetic control system, wherein：
A-power supply administrative unit, B motion controller units, C execution units, A1 joint control electricity output modules, A2 power electricity
Source output module, the output of A3 motion control powers, B1 secondary power supply modules, B2 relay control modules, B3 memory modules.
Specific embodiment
Space manipulator kinetic control system described herein, as shown in figure 1, including PMU A, for adjusting
Save the electric power input of each module；Motion controller unit B, is used to complete information analysis computing, issues instruction to actuating station；It is double superfluous
Remaining CAN；And execution unit C, such as some joint controls, end effector controller.
PMU A accesses+28V power supplies, and including joint control electricity output modules A 1, power power-supply output
Modules A 2, and motion control power output A3.Wherein, in joint control electricity output modules A 1 and power power-supply output module A2
Output front end be provided with relay management and protection module A4 with implement protection.
Motion controller unit B, is connected by one-level bus RS422 with upper level control unit interface.Motion controller bag
The secondary power supply module B1 for receiving motion control power input is included, is used to carry out PMU the relay control of relay protection
Molding block B2, arithmetic processor CPU, memory module B3.Motion controller unit B passes through dual-redundant CAN bus and execution unit
It is connected.
Execution unit C, including for example some joint controls, end effector controller C1 ... Cn etc..Joint control
Device includes power module C1a, and it includes control power supply C1a ' (secondary power supply/control) and driving power supply C1a " (secondary power supply/drive)；
Phase/bus current acquisition module C1b, CPU, motor C1c, and for collecting the temperature sensor of actuating station implementation status
C1s, torque sensor C1s ', position sensor C1s ", torque sensor C1s ' are connected with moment sensing conditioning plate C1d.
End effector controller Cna, including for example control power supply Cna ' (secondary power supply/control) and driving power supply Can "
(secondary power supply/drive)；Phase/bus current acquisition module Cnb, CPU, motor Cnc, and for collecting end implementation status
Temperature sensor Cns, position sensor Cns '.
The torque sensor conditioning plate being wherein connected with the torque sensor of actuator controller is for defeated to elastomer
The weak voltage signals for going out nurse one's health the component of amplification, and joint control provides+12V voltages to conditioning plate, and conditioning plate is through steady
Powered to elastomer electric bridge after pressure, and receive mV grades of sensing voltage signal of its output, after conditioning plate is by the small signals amplification, turned
Change the voltage signal of ± 10V, the positive and negative full scale of correspondence elastomer into.Joint control to receive and carry out AD to it after the signal and adopt
Collection, so as to obtain moment sensing information.
Wherein, in execution unit C, joint control is responsible for the acquisition process of simple joint heat transfer agent, command reception solution
The functions such as analysis, status information feedback, joint servo calculating, power drive output.Terminal controller is responsible for the biography of end effector
The functions such as sense Information Collecting ＆ Processing, command reception parsing, status information feedback, servo calculating, power drive output.
The control system can collect and collect all actuating station data messages and plan as a whole managing and control system resource, and according to center
The motion control behavior of controller CPU and sensor-based system to mechanical arm carries out decision-making and management.
The multi-joint that the control system is realized is cooperateed with and fault-tolerant processing control method, and specific strategy is：
(1) dual-redundant CAN bus control is only possessed by motion controller B
(2) all of joint is by motion controller B number consecutivelies and distributes fixed ID addresses；
(3) when system enters motion control process, motion controller sends the current control instruction clapped to No. 1 node
(joint), No. 1 node sends return data to motion controller B immediately after receiving instruction, and similarly, other nodes are grasped successively
Make, sent and interaction until completing instruction with all of node.
(4) after motion controller B determines and all of node is interacted, all sections are triggered by way of broadcast frame
Point performs work of originally flapping simultaneously, and multi-axial Simultaneous are ensured with this.
(5) operation of above-mentioned (3), (4) two steps must be completed in a controlling cycle.
(6) assume that motion controller sends instruction to a certain node, fail to receive joint return in certain hour t
Handshake data frame, then send the frame data, and send 3 times altogether again.If still fail to receive in 3 cycles of shaking hands shaken hands
Range data, the then it is believed that node failure.
(7) if motion controller B has detected failure node, can analyze complete task in this condition, if
System resource can then be reintegrated to plan again.If not all right, alarm is sent.
(8) if it have detected that certain node failure, motion controller is continued to sending when distributed AC servo system is instructed
Send instruction to the node, if receiving handshake (3 times shake hands succeed), then it is assumed that the node is returned from failure state
Multiple, controller will reintegrate system resource and lay equal stress on new planning.
Claims (7)
1. a kind of space manipulator kinetic control system, including PMU (A), the electric power for adjusting each module is defeated
Enter；Motion controller unit (B), is used to complete information analysis computing, issues instruction to actuating station；Dual-redundant CAN bus；And
Execution unit (C)；
Execution unit (C), including some joint controls (C1 ... Cn-1), end effector controller (Cn), wherein,
Joint control includes power module (C1a), and it includes that secondary power supply controls power supply (C1a ') and secondary power supply to drive electricity
Source (C1a ")；Phase current and bus current acquisition module (C1b), CPU, motor (C1c), and held for collecting actuating station
The temperature sensor (C1s) of market condition, torque sensor (C1s '), position sensor (C1s "), torque sensor (C1s ') with
Moment sensing conditioning plate (C1d) is connected；
End effector controller (Cn) includes that secondary power supply controls power supply (Cna ') and secondary power supply driving power supply (Cna ")；Phase
Electric current and bus current acquisition module (Cnb), CPU, motor (Cnc), and for collecting the temperature of end implementation status
Sensor (Cns), position sensor (Cns ').
2. space manipulator kinetic control system according to claim 1, wherein PMU (A) access it is outside+
28V power supplies, and including joint control electricity output module (A1), power power-supply output module (A2), and motion control electricity
Source exports (A3).
3. space manipulator kinetic control system according to claim 2, wherein, the joint control of PMU (A)
The output front end of electricity output module (A1) processed and power power-supply output module (A2) is provided with relay management and protection module with reality
Apply protection.
4. space manipulator kinetic control system according to claim 1, wherein motion controller unit (B) include receiving
The secondary power supply module (B1) of motion control power input, is used to carry out PMU (A) the relay control of relay protection
Molding block (B2), arithmetic processor CPU, memory module (B3).
5. space manipulator kinetic control system according to claim 4, wherein motion controller unit (B), by one
Level bus RS422 is connected with upper level control unit interface, and is connected with execution unit (C) by dual-redundant CAN bus.
6. space manipulator kinetic control system according to claim 1, wherein, in execution unit (C), joint control
Device is responsible for the acquisition process of simple joint heat transfer agent, command reception parsing, status information feedback, joint servo calculating, power drive
Dynamic output function；
Terminal controller is responsible for the heat transfer agent acquisition process of end effector, command reception parsing, status information feedback, servo
Calculating, power drive output function.
7. the multi-joint collaboration and fault-tolerant processing control of a kind of space manipulator kinetic control system as described in claim 1-6
Method：
(1) dual-redundant CAN bus control is only possessed by motion controller (B)；
(2) all of joint is by motion controller (B) number consecutively and distributes fixed ID addresses；
(3) when system enters motion control process, motion controller sends the current control instruction clapped to No. 1 node, No. 1 section
Point receive instruction after immediately to motion controller (B) send return data, similarly, other nodes are operated successively, until and institute
Some nodes complete instruction and send and interaction；
(4) after motion controller (B) determines and all of node is interacted, all nodes are triggered by way of broadcast frame
Work of originally flapping is performed simultaneously, and multi-axial Simultaneous are ensured with this；
(5) operation of above-mentioned (3), (4) two steps must be completed in a controlling cycle；
(6) assume that motion controller sends instruction to a certain node, fail to receive shaking hands for joint return in certain hour t
Data frame, then send the instruction, and send 3 times altogether again；If still failing to receive handshake data in 3 cycles of shaking hands
Frame, the then it is believed that node failure；
(7) if having detected failure node, can analyze complete to appoint motion controller (B) in the case where there is failure node state
Business, if can if reintegrate system resource and plan again；If not all right, alarm is sent；
(8) if it have detected that certain node failure, motion controller is continued to this sending when distributed AC servo system is instructed
Node sends instruction, if receive handshake and shaken hands for 3 times succeed, then it is assumed that the node is replied from failure state, control
Device processed will reintegrate system resource and lay equal stress on new planning.
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| 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 |
| CN106041929B (en) * | 2016-06-24 | 2018-03-30 | 南京工程学院 | A kind of control method for six-DOF robot |
| 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 |
| 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 |
| 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 |
| 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 |
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| JP2002222033A (en) * | 2001-01-29 | 2002-08-09 | Nec Corp | Power-saving system, and task power-saving method and its program |
| CN100446942C (en) * | 2007-03-08 | 2008-12-31 | 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 |
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