CN105539890A - Device and method for simulating space mechanical arm to capture ground three-dimensional space microgravity of target satellite - Google Patents

Abstract

The invention provides a device and method for simulating a space mechanical arm to capture ground three-dimensional space microgravity of a target satellite, and relates to a device and method of the ground three-dimensional space microgravity. The problem that the movement of a floating satellite base in the three-dimensional space and operation process of the space mechanical arm is not considered is solved. The device comprises two industrial mechanical arms, the space mechanical arm, a hand eye camera, a capturing paw, a capturing connector, a service satellite body simulator, a target satellite body simulator and six-dimensional force and torque sensors; the method comprises the steps that target satellite movement is simulated; the position and attitude of the target satellite and movement information of joints of the space mechanical arm are determined; movement information of a service satellite body simulator base and the industrial mechanism arms is calculated; the capturing connector captures the target satellite body simulator in a capturing paw area; a movement state of the service satellite body simulator is achieved by simulating a real target satellite movement sate. The device and method for simulating the space mechanical arm to capture the ground three-dimensional space microgravity of the target satellite is applied to the field of space mechanical arm ground three-dimensional space microgravity simulation.

Description

Device and method for simulating space mechanical arm to capture ground three-dimensional space microgravity of target satellite

Technical Field

The invention relates to a device and a method for capturing the ground three-dimensional space microgravity of a target satellite by a simulated space manipulator, in particular to a device and a method for capturing the ground three-dimensional space microgravity of the target satellite by the simulated space manipulator.

Background

Since space robots operate in space to approach and capture a target satellite, their satellite bases are typically uncontrolled, in a free-floating state. In space, a space robot system is in a microgravity environment, and the influence of earth gravity on the space robot system is generally not considered, so that the space robot system meets the momentum conservation law. As the space manipulator moves, its floating satellite base typically produces a corresponding disturbance. At present, the test of the space manipulator is usually performed on a two-dimensional air-floating platform, the motion of the floating satellite base is usually not considered, only the motion and the operation of the space manipulator in a two-dimensional plane space are considered, the motion and the operation are greatly different from the real three-dimensional space motion and the operation of a space robot in space, and the space robot hardly has the influence of earth gravity in space, so that the design of the space robot is usually long in arm rod and has high flexibility, and the three-dimensional space operation cannot be directly performed in the ground gravity environment, therefore, a set of ground three-dimensional space microgravity simulation and verification system needs to be developed to reproduce and verify the operation of the space robot for capturing and maintaining a target satellite in the real three-dimensional space, and related control algorithms and hardware are tested.

Disclosure of Invention

The invention provides a device and a method for simulating a space manipulator to capture the ground three-dimensional space microgravity of a target satellite, aiming at solving the problem that the motion of the space manipulator floating a satellite base in the three-dimensional space and the operation process is not considered in the prior art.

The invention adopts the following technical scheme:

a device for simulating a space manipulator to capture the ground three-dimensional space microgravity of a target satellite specifically comprises an industrial manipulator A and an industrial manipulator T; the system comprises a space mechanical arm, a hand-eye camera, a capturing paw, a capturing interface, a service satellite body simulator, a target satellite body simulator and a six-dimensional force/torque sensor;

the tail end of the industrial mechanical arm A is connected with a service satellite body simulator, and the service satellite body simulator is connected with a six-dimensional force/torque sensor through a connecting flange; the six-dimensional force/torque sensor is connected with the space manipulator through a connecting flange; the space manipulator is connected with the hand-eye camera through a bolt, and the hand-eye camera is connected with the capturing paw through a bolt;

the industrial mechanical arm T is connected with a six-dimensional force/torque sensor through a connecting flange, and the six-dimensional force/torque sensor is connected with a target satellite body simulator through the connecting flange; the target satellite body simulator is connected with the capturing interface;

wherein, connect and catch the interface and catch the paw to match.

The implementation method for capturing the ground three-dimensional space microgravity of the target satellite by the simulated space mechanical arm specifically comprises the following steps:

simulating the motion of a target satellite; simulating the motion state of an actual target satellite by the target satellite body simulator through the industrial mechanical arm T by utilizing a kinematic equivalent algorithm;

acquiring a visual image of the relative motion information of the target satellite body simulator in the step one through a hand-eye camera, and determining the position of the target satellite body simulator relative to the hand-eye camera and the posture of the satellite body simulator according to the visual image;

transmitting the relative position and posture determined in the step two to a space manipulator controller, and determining the motion information of the tail end of the space manipulator by the space manipulator controller according to the relative position and posture information; determining motion information of each joint of the space manipulator according to the motion information of the tail end of the space manipulator; the motion information of each joint of the space manipulator comprises the angular acceleration of the joint of the space manipulatorAnd joint angular velocity of space manipulatorThe lower corner mark m is a space manipulator; the tail end of the space manipulator is specifically a joint of the space manipulator and the hand-eye camera;

calculating the motion information of the service satellite body simulator base according to the motion information of each joint of the space manipulator;

calculating the tail end motion information of the industrial mechanical arm A through a kinematic equivalent algorithm according to the motion information of the service satellite body simulator base; the tail end of the industrial mechanical arm A is a connecting part of the industrial mechanical arm A and the service satellite body simulator;

determining the posture of the target satellite body simulator relative to the position of the hand-eye camera according to the visual image to judge whether the receiving and capturing interface is in a capturing area where the capturing paw is located; if the robot is in the capturing area where the capturing paw is located, performing step eight; if not, repeating the first to fifth steps; until the capture interface is within the capture area of the capture paw;

controlling a capturing paw to capture the target satellite body simulator by using a controller of the space manipulator;

step eight, after the capturing paw captures the target satellite body simulator, the target satellite body simulator estimates the motion state of the target satellite body simulator through a dynamic algorithm according to the received contact force;

step nine, simulating the motion state of the actual target satellite after the industrial mechanical arm T is stressed by a kinematics equivalent method according to the motion state of the target satellite body simulator estimated in the step eight;

step ten, calculating the motion state of the service satellite body simulator through a dynamics algorithm of a space manipulator according to the external force and the external moment generated by the contact between the capturing paw and the target satellite body simulator, which are measured by the moment sensor, and realizing the motion state of the service satellite body simulator by utilizing the motion of the industrial manipulator A through a kinematics equivalent algorithm.

The invention has the beneficial effects that:

the invention relates to a device and a method for simulating a space manipulator to capture the ground three-dimensional space microgravity of a target satellite, belonging to the technical field of space manipulators.

A method for simulating and verifying microgravity in three-dimensional space on the ground is used for carrying out experiments and tests on simulation and reproduction of three-dimensional space of a space robot capturing a moving target satellite.

1. The invention can truly reproduce the whole process of capturing the moving target satellite by the space robot in the three-dimensional space;

2. the invention can simulate the spin or rolling motion of the target satellite;

3. the invention can simulate the disturbance condition of the floating satellite base in the motion process of the space robot;

4. the invention can verify the reliability of the relevant motion control and algorithm of the space robot;

5. the invention can verify the characteristics of the real hardware of the space robot;

6. the system of the invention can be used for task verification of contact of a space mechanical arm to capture a moving object or on-track replacement ORU operation, such as fig. 7(a) to fig. 11 (f).

Drawings

Fig. 1 is a schematic diagram of a gravity compensation principle of a spatial manipulator at the end of an industrial robot to a six-dimensional force or torque sensor according to a third embodiment; wherein,

fig. 2 is a block diagram of a hardware structure of a three-dimensional microgravity verification system based on a hardware-in-the-loop space robot ground according to a first embodiment; the system comprises a space manipulator 2, an eye camera 3, a capturing paw 4, a capturing interface 6, a service satellite body simulator 7, a target satellite body simulator 8, an industrial robot A9, an industrial robot T10 and a six-dimensional force/moment sensor 11, wherein the space manipulator is a space manipulator, the eye camera 3 is a hand-eye camera, the capturing paw is a capturing paw 6, the target satellite body simulator 7 is a service satellite body simulator, the industrial robot A10 is an industrial robot T;

fig. 3 is a block diagram of a software structure of a hardware-in-the-loop based ground three-dimensional microgravity verification system of a space robot according to a first embodiment; wherein 12 is a vision processing computer, 13 is a space arm controller, 16 industrial robot A controller, 17 industrial robot A joint controller, 22 industrial robot T controller, 23 industrial robot T joint controller

Fig. 4 is a schematic block diagram of an implementation of a ground three-dimensional microgravity verification system for capturing a target satellite by a space robot based on a hardware-in-the-loop according to a first embodiment;

fig. 5 is a block diagram of an implementation of motion simulation and reproduction of a target satellite in a space microgravity environment according to a third embodiment;

fig. 6 is a block diagram of an implementation of motion model reconstruction of a space robot in a space microgravity environment according to a second embodiment;

fig. 7(a) is a graph of a position of a target satellite ontology simulator relative to a hand-eye camera in an x direction as a function of time according to an embodiment, in which a horizontal axis represents time and a vertical axis represents a position of the target satellite ontology simulator relative to the hand-eye camera in the x direction

Fig. 7(b) is a graph of a position of the target satellite ontology simulator relative to the hand-eye camera in the y direction as a function of time according to an embodiment, in which a horizontal axis represents time and a vertical axis represents a position of the target satellite ontology simulator relative to the hand-eye camera in the y direction

Fig. 7(c) is a diagram name of a curve of the position of the target satellite ontology simulator relative to the hand-eye camera in the z direction as a function of time according to an embodiment, wherein a horizontal axis represents time and a vertical axis represents the position of the target satellite ontology simulator relative to the hand-eye camera in the z direction

FIG. 7(d) is a graph showing the change of the attitude of the target satellite ontology simulator relative to the hand-eye camera around the z-axis with time according to an embodiment, wherein the horizontal axis represents the time and the vertical axis represents the attitude of the target satellite ontology simulator relative to the hand-eye camera around the z-axis

FIG. 7(e) is a graph showing the change of the attitude of the target satellite ontology simulator relative to the hand-eye camera around the y-axis with time according to the first embodiment, wherein the horizontal axis represents the time and the vertical axis represents the attitude of the target satellite ontology simulator relative to the hand-eye camera around the y-axis

FIG. 7(f) is a graph showing the change of the attitude of the target satellite ontology simulator relative to the hand-eye camera around the x-axis with time according to one embodiment, wherein the horizontal axis represents the time and the vertical axis represents the attitude of the target satellite ontology simulator relative to the hand-eye camera around the x-axis

FIG. 8(a) is a graph illustrating the x-direction variation of the end of the space manipulator in its inertial frame according to one embodiment;

FIG. 8(b) is a graph illustrating the variation of the y-direction of the end of the space manipulator in its inertial frame according to an embodiment;

FIG. 8(c) is a graph illustrating the z-direction variation of the end of the space manipulator in its inertial frame according to one embodiment;

FIG. 9(a) is a graph illustrating the change of attitude angle of the end of the space manipulator around the x-axis in the inertial coordinate system according to one embodiment;

FIG. 9(b) is a graph illustrating the change of the attitude angle of the end of the space manipulator around the y-axis in the inertial coordinate system according to the first embodiment;

FIG. 9(c) is a graph of the change of attitude angle of the end of the space manipulator around the y-axis in its inertial frame according to one embodiment;

FIG. 10(a) is a graph of the expected joint angle and the actual joint angle for a first joint of a space manipulator according to one embodiment;

FIG. 10(b) is a graph showing the variation of the desired joint angle and the actual joint angle of the second joint of the space manipulator according to one embodiment;

FIG. 10(c) is a graph showing the variation of the desired joint angle and the actual joint angle of the third joint of the space manipulator according to one embodiment;

FIG. 10(d) is a graph showing the variation of the expected joint angle and the actual joint angle of the fourth joint of the space manipulator according to one embodiment;

FIG. 10(e) is a graph showing the variation of the expected joint angle and the actual joint angle of the fifth joint of the space manipulator according to one embodiment;

FIG. 10(f) is a graph showing the variation of the expected joint angle and the actual joint angle of the sixth joint of the space manipulator according to one embodiment;

FIG. 11(a) is a schematic diagram illustrating an x-direction variation curve of the pose of a service satellite simulator base of the space manipulator according to an embodiment of the present invention;

FIG. 11(b) is a schematic diagram illustrating a y-direction variation curve of the pose of the service satellite simulator base of the space manipulator in accordance with an exemplary embodiment;

FIG. 11(c) is a schematic diagram illustrating z-direction variation of pose of a service satellite simulator base of a space manipulator according to an embodiment of the present invention;

FIG. 11(d) is a schematic diagram of an x Euler angle variation curve of the pose of the service satellite simulator base of the space manipulator according to one embodiment;

FIG. 11(e) is a schematic diagram of the y-Euler angle variation of the pose of the service satellite simulator base of the space manipulator according to one embodiment;

FIG. 11(f) is a z-Euler angle variation curve of the pose of the service satellite simulator base of the space manipulator according to an embodiment of the present invention.

Detailed Description

The first embodiment is as follows: the device for simulating the space manipulator to capture the ground three-dimensional space microgravity of the target satellite comprises an industrial manipulator A9 and an industrial manipulator T10; the space manipulator 2, the hand-eye camera 3, the capturing paw 4, the capturing interface 6, the service satellite body simulator 7, the target satellite body simulator 8 and the six-dimensional force/torque sensor 11 form a figure 2;

the effect of the embodiment is as follows:

the embodiment relates to a device and a method for simulating a space manipulator to capture the ground three-dimensional space microgravity of a target satellite, belonging to the technical field of space manipulators.

A method for simulating and verifying microgravity in three-dimensional space on the ground is used for carrying out experiments and tests on simulation and reproduction of three-dimensional space of a space robot capturing a moving target satellite.

1. The embodiment can truly reproduce the whole process of capturing the moving target satellite by the space robot in the three-dimensional space;

2. the embodiment can simulate the spinning or rolling motion of the target satellite;

3. the embodiment can simulate the disturbance condition of the floating satellite base in the motion process of the space robot;

4. the embodiment can verify the reliability of the relevant motion control and algorithm of the space robot;

5. the embodiment can verify the characteristics of the real hardware of the space robot;

6. this embodiment of the system can be used for task verification of contact of the space manipulator to capture a moving object or on-track replacement of the ORU operation as shown in fig. 7(a) to fig. 11 (f).

The second embodiment is as follows: the first difference between the present embodiment and the specific embodiment is: the tail end of the industrial mechanical arm A9 is connected with the service satellite body simulator 7, and the service satellite body simulator 7 is connected with the six-dimensional force/torque sensor 11 through a connecting flange; the six-dimensional force/torque sensor 11 is connected with the space manipulator 2 through a connecting flange; the space manipulator 2 is connected with the hand-eye camera 3 through a bolt, and the hand-eye camera 3 is connected with the capturing paw 4 through a bolt;

the industrial mechanical arm T10 is connected with the six-dimensional force/torque sensor 1 through a connecting flange, and the six-dimensional force/torque sensor 11 is connected with the target satellite body simulator 8 through a connecting flange; the target satellite ontology simulator 8 is connected to the acquisition interface 6,

wherein, the capturing interface 6 is matched with the capturing paw 4; the industrial mechanical arm A9 is IRB6640-235 which is produced by ABB company; the industrial mechanical arm T10 is a model IRB6640-235 manufactured by ABB company;

the space manipulator 2 mainly comprises a joint and a connecting rod, wherein the joint comprises a motor, a harmonic reducer, an absolute position sensor, a joint torque sensor, a joint controller and the like;

the six-dimensional force/torque sensor 11 is specifically a Delta six-axis force or torque sensor of ATI. Other steps and parameters are the same as those in the first embodiment.

The third concrete implementation mode: the present embodiment differs from the first or second embodiment in that: the implementation method for capturing the ground three-dimensional space microgravity of the target satellite by the simulated space mechanical arm specifically comprises the following steps:

simulating the motion of a target satellite; simulating the actual motion state of the target satellite by the target satellite body simulator 8 through an industrial mechanical arm T10 by using a kinematic equivalent algorithm;

secondly, acquiring a visual image of the relative motion information of the target satellite body simulator 8 in the first step through the hand-eye camera 3, and determining the position of the target satellite body simulator 8 relative to the hand-eye camera 3 and the posture of the satellite body simulator 8 according to the visual image;

thirdly, transmitting the relative position and the posture determined in the second step to a space manipulator 2 controller, and determining the tail end motion information of the space manipulator 2 by the space manipulator 2 controller according to the relative position and the posture information; determining the motion information of each joint of the space manipulator 2 according to the motion information of the tail end of the space manipulator 2; wherein the motion information of each joint of the space manipulator 2 comprises the angular acceleration of the joint of the space manipulatorAnd joint angular velocity of space manipulatorThe lower corner mark m is a space manipulator; wherein, the tail end of the space manipulator 2 is specifically the joint of the space manipulator 2 and the hand-eye camera 3; the space manipulator comprises a first rod piece, a second rod piece, a third rod piece and a fourth rod piece;

step four, calculating the motion information of the base of the service satellite body simulator 7 according to the motion information of each joint of the space manipulator 2;

step five, calculating the tail end motion information of the industrial mechanical arm A9 through a kinematics equivalent algorithm according to the motion information of the base of the service satellite body simulator 7; wherein, the tail end of the industrial mechanical arm A9 is the joint of the industrial mechanical arm A9 and the service satellite body simulator 7;

sixthly, determining the posture of the target satellite body simulator 8 relative to the position of the hand-eye camera 3 according to the visual image to judge whether the receiving and capturing interface 6 is in the capturing area where the capturing paw 4 is located; if the capture paw is in the capture area where the capture paw 4 is located, the step eight is carried out; if not, repeating the first to fifth steps; until the capture interface 6 is within the capture area of the capture paw 4;

controlling the capturing paw 4 to capture the target satellite body simulator 8 by using the controller of the space manipulator 2;

step eight, after the capturing paw 4 captures the target satellite body simulator 8, the target satellite body simulator 8 estimates the motion state of the target satellite body simulator 8 through a dynamic algorithm according to the received contact force;

step nine, simulating the motion state of the actual target satellite stressed by the industrial mechanical arm T10 by a kinematic equivalent method according to the motion state of the target satellite body simulator 8 estimated in the step eight;

step ten, calculating the motion state of the service satellite body simulator 7 through a dynamic algorithm of a space manipulator according to the external force and the external moment generated by the contact between the capturing paw 4 and the target satellite body simulator 8 measured by the moment sensor and the base, and realizing the motion state of the service satellite body simulator 7 through a kinematic equivalent algorithm by utilizing the motion of the industrial manipulator A9 as shown in the figures 3 and 4. Other steps and parameters are the same as those in the first or second embodiment.

The fourth concrete implementation mode: the difference between this embodiment mode and one of the first to third embodiment modes is: simulating the motion of a target satellite; as shown in fig. 5, the specific process of simulating the actual motion state of the target satellite by the target satellite body simulator 8 through the industrial robot arm T10 by using the kinematic equivalent algorithm is as follows:

(1) converting the motion information of the target satellite body simulator 8 in the inertial space into the motion information of the tail end of the industrial mechanical arm T10 under the base mark;

(2) determining joint motion information of the industrial mechanical arm T10 through an inverse kinematics algorithm in an upper computer of the industrial mechanical arm T10;

(3) and transmitting the joint motion information to a joint controller of the industrial robot through an internal bus of the industrial robot T10, wherein the joint controller controls the motion of the industrial robot T10. Other steps and parameters are the same as those in one of the first to third embodiments.

The fifth concrete implementation mode: the difference between this embodiment and one of the first to fourth embodiments is: in the third step, the motion information of the base of the service satellite body simulator 7 is calculated according to the motion information of each joint of the space manipulator 2;

as shown in fig. 6, the motion simulation of the service satellite body simulator 7 of the space manipulator 2 mainly includes obtaining the motion state information of the service satellite body simulator 7 through calculation of a dynamic algorithm of the space manipulator 2, and obtaining the motion state information of the industrial robot a9 through a kinematic equivalent algorithm according to the motion state information of the service satellite body simulator 7;

(1) solving according to a Lagrange equation to obtain a dynamic equation representation form of a system consisting of the service satellite body simulator 7, the space manipulator 2, the hand-eye camera 3 and the capturing paw 4 as follows:

$\left[\begin{array}{cc}{H}_b& H_{bm}\\ H_{bm}^T& H_m\end{array}\right]\left[\begin{array}{c}{\stackrel{\·\·}{x}}_b\\ {\stackrel{\·\·}{q}}_m\end{array}\right]+\left[\begin{array}{c}{c}_b\\ c_m\end{array}\right]=\left[\begin{array}{c}{F}_b\\ F_m\end{array}\right]+\left[\begin{array}{c}{J_b}^T\\ {J_m}^T\end{array}\right]F_{ex}---\left(1\right)$

in the formula, H_bThe inertia tensor for the service satellite ontology simulator 7; h_mAn inertia tensor coupled for the space manipulator 2; h_bmAn inertia tensor for coupling a base of the service satellite body simulator 7 and the space manipulator 2;the motion acceleration of the base of the satellite body simulator 7 for service; c. C_bAs a non-linear force related to the movement of the base of the service satellite body simulator 7, c_bIncluding centripetal force associated with motion of the service satellite ontology simulator 7 and coriolis force associated with motion of the base; c. C_mNon-linear forces related to the motion of the space manipulator 2, c_mIncluding centripetal force associated with movement of the space manipulator 2 and coriolis force associated with movement of the space manipulator 2; c. C_b、c_m∈R⁶；F_b∈R⁶For forces and moments acting on the service satellite body simulator 7, F_m∈R⁶Driving moment of the space manipulator 2 joint; j. the design is a square_bIs a Jacobian matrix related to the motion of the service satellite body simulator 7; j. the design is a square_mIs a Jacobian matrix associated with the motion of the space robot 2 when the end of the space robot 2 is in contact with the environment, i.e., the end of the space robot 2 is subjected to external forces and moments F_ex∈R⁶；

(2) The following formula is derived from equation (1):

$H_b{\stackrel{\·}{x}}_b+H_{bm}{\stackrel{\·}{q}}_m=0---\left(2\right)$

${\stackrel{\·}{x}}_b={\[v_b,{\mathrm{\ω}}_b\]}^T=-H_b^{-1}\left(H_{bm}{\stackrel{\·}{q}}_m\right)---\left(3\right)$

in the formula,respectively representing the movement speed of the base of the service satellite body simulator 7; v. of_bLinear velocity representing the motion of the service satellite ontology simulator 7 base; omega_bRespectively, representing the angular velocity of the motion of the base of the serving satellite ontology simulator 7. Other steps and parameters are the same as in one of the first to fourth embodiments.

The sixth specific implementation mode: the difference between this embodiment and one of the first to fifth embodiments is: in the fourth step, according to the motion information of the base of the service satellite body simulator 7, the specific process of calculating the terminal motion information of the industrial mechanical arm a9 through a kinematic equivalent algorithm is as follows:

(1) converting the motion information of the service satellite body simulator in the inertial space into the motion information of the tail end of the industrial mechanical arm A9 under the base mark;

(2) determining joint motion information of the industrial mechanical arm A9 through an inverse kinematics algorithm in an upper computer of the industrial mechanical arm A9;

(3) and transmitting the joint motion information to a joint controller of the industrial robot through an internal bus of the industrial robot a9, wherein the joint controller controls the movement of the industrial robot a 9. Other steps and parameters are the same as those in one of the first to fifth embodiments.

The seventh embodiment: the difference between this embodiment and one of the first to sixth embodiments is: in the eighth step, after the capturing paw 4 captures the target satellite body simulator 8, the target satellite body simulator 8 estimates the specific process of the motion state of the satellite body simulator 8 through a dynamics algorithm according to the received contact force:

eighthly, calculating gravity compensation of the target satellite body simulator 8 on the six-dimensional force/moment sensor to obtain a specific gravity and gravity moment formula of the target satellite body simulator 8 under a six-dimensional force/moment sensor coordinate system as follows:

$F_{gs}=R_G^S\·F_g---\left(8\right)$

$T_{gs}=P_s\×(R_G^S\·F_g)---\left(9\right)$

in the formula, F_gRepresenting the gravity of the target satellite body simulator 8 under a gravity coordinate system;a transformation matrix representing the center of gravity of the target satellite ontology simulator 8 from a six-dimensional force/moment sensor coordinate system to a gravity coordinate system; p_sRepresenting the position vector of the gravity center position of the target satellite body simulator 8 under a six-dimensional force/torque sensor coordinate system; f_gsRepresents the target satellite ontology simulator 8 inGravity under a six-dimensional force/torque sensor coordinate system; t is_gsRespectively representing the gravity moment of the target satellite body simulator 8 under a six-dimensional force/moment sensor coordinate system;

eighthly, calculating f through the contact force and contact moment of the capturing paw 4 and the target satellite body simulator 8 measured by the six-dimensional force/moment sensor and the difference value of the gravity and the gravity moment of the target satellite body simulator 8 in the six-dimensional force/moment sensor coordinate system_tAnd τ_tThe concrete formula is as follows:

f_t＝F_ct-F_gs

τ_t＝T_ct-T_gs

wherein, F_ctRepresenting the contact force of the capturing paw 4 and the target satellite body simulator 8 measured by a six-dimensional force/torque sensor; t is_ctRepresenting the contact torque of the capturing paw 4 and the target satellite body simulator 8 measured by the six-dimensional force/torque sensor; f. of_tRepresenting external forces acting on the target satellite ontology simulator 8; tau is_tRepresenting the external moment acting on the target satellite ontology simulator 8;

and eighthly, assuming that the target satellite ontology simulator 8 is a single rotating rigid body, and under the premise of not considering satellite orbit dynamics, the dynamic equation of the target satellite ontology simulator 8 is expressed as follows:

$M_t{\stackrel{\·}{v}}_t=f_t---6$

$I_t{\stackrel{\·}{\mathrm{\ω}}}_t+{\mathrm{\ω}}_t\×I_t{\mathrm{\ω}}_t={\mathrm{\τ}}_t---7$

in the formula, M_tRepresents the quality of the target satellite ontology simulator 8;represents the linear acceleration of the target satellite ontology simulator 8; omega_tRespectively represent the angular velocity of the target satellite ontology simulator 8; i is_tRespectively represent the inertia of the target satellite ontology simulator 8;represents the angular acceleration of the target satellite ontology simulator 8;

external moments τ based on the assumption of neglecting orbit dynamics_tZero before physical contact and contact torque during contact operation. Other steps and parameters are the same as those in one of the first to sixth embodiments.

The specific implementation mode is eight: the present embodiment differs from one of the first to seventh embodiments in that: in the step ten, the motion state of the service satellite body simulator 7 is calculated through a dynamic algorithm of a space manipulator according to the external force and the external moment generated by the contact between the capturing paw 4 and the target satellite body simulator 8 measured by a moment sensor and the base, and the motion state of the service satellite body simulator 7 is realized through a kinematic equivalent algorithm by utilizing the motion of an industrial manipulator A9:

(1) fig. 1 is a schematic diagram illustrating the gravity compensation principle of a spatial robot arm at the end of an industrial robot arm a9 for a six-dimensional force/torque sensor; the gravity compensation of the space manipulator 2 to the six-dimensional force/torque sensor is calculated to obtain the specific formula of the gravity and the gravity torque of the space manipulator 2 under the six-dimensional force/torque sensor coordinate system as follows:

$\begin{array}{c}{\hat{F}}_{gs}=F_{gs1}+F_{gs2}+F_{gs3}+F_{gs4}\\ =R_{G1}^S\·G_1+R_{G2}^S\·G_2+R_{G3}^S\·G_3+R_{G4}^S\·G_4^{.}\\ {\hat{T}}_{gs}=T_{gs1}+T_{gs2}+T_{gs3}+T_{gs4}\\ =r_1\×(R_{G1}^S\·G_1)+r_2\×(R_{G2}^S\·G_2)+r_3\×(R_{G3}^S\·G_3)+r_4\×(R_{G4}^S\·G_4)\end{array}$

in the formula, G₁Representing the gravity of the first rod of the space manipulator 2 under a gravity coordinate system; f_gs1Representing the gravity of the first rod of the space manipulator 2 under a six-dimensional force/torque sensor coordinate system;a transformation matrix representing the center of gravity of the first bar of the space manipulator 2 from the six-dimensional force/torque sensor coordinate system to the gravity coordinate system; t is_gs1The space manipulator 2 represents the gravity moment of a first rod piece of the space manipulator 2 under a six-dimensional force/moment sensor coordinate system; r is₁A position vector representing the gravity center position of the first rod of the space manipulator 2 under a six-dimensional force/torque sensor coordinate system;representing the gravitational force of the entire space manipulator 2 in a six-dimensional force/torque sensor coordinate system.

G₂Representing the gravity of the second rod of the space manipulator 2 under a gravity coordinate system; f_gs2Representing the gravity of the second rod of the space manipulator 2 under a six-dimensional force/torque sensor coordinate system;a transformation matrix representing the center of gravity of the second bar of the space manipulator 2 from the six-dimensional force/torque sensor coordinate system to the gravity coordinate system; t is_gs2Second rod representing space manipulator 2 in six-dimensional force/torque sensor coordinate systemLower moment of gravity; r is₂A position vector representing the gravity center position of the second rod of the space manipulator 2 under a six-dimensional force/torque sensor coordinate system;respectively represent the gravitational moment of the whole space manipulator 2 under a six-dimensional force/moment sensor coordinate system.

G₃Representing the gravity of the third rod of the space manipulator 2 under a gravity coordinate system; f_gs3Representing the gravity of the third rod of the space manipulator 2 under a six-dimensional force/torque sensor coordinate system;a transformation matrix representing the center of gravity of the third bar of the space manipulator 2 from the six-dimensional force/torque sensor coordinate system to the gravity coordinate system; t is_gs3Respectively representing the gravity moment of a third rod piece of the space manipulator 2 under a six-dimensional force/moment sensor coordinate system; r is₃Representing a position vector of the gravity center position of a third rod of the space manipulator 2 under a six-dimensional force/torque sensor coordinate system;

G₄respectively representing the gravity of the fourth rod element of the space manipulator 2 under a gravity coordinate system; f_gs4Respectively representing the gravity of the fourth rod element of the space manipulator 2 under a six-dimensional force/torque sensor coordinate system;respectively representing transformation matrixes of the gravity center of the fourth rod of the space manipulator 2 from a six-dimensional force/torque sensor coordinate system to a gravity coordinate system; t is_gs4Respectively representing the gravity moment of the fourth rod element of the space manipulator 2 under a six-dimensional force/moment sensor coordinate system; r is₄Respectively representing the position vectors of the gravity center position of the fourth rod element of the space manipulator 2 under a six-dimensional force/torque sensor coordinate system;

(2) the contact force and the contact torque which are applied to the service satellite body simulator 7 and are measured by the six-dimensional force/torque sensor and the six-dimensional force/torque sensor of the space manipulator 2Calculation of the difference between gravity and moment of gravity in a coordinate system f_bAnd τ_bThe concrete formula is as follows:

f_b＝F_cb-F_gs

τ_b＝T_cb-T_gs

wherein, F_cbRepresents the contact force to which the service satellite ontology simulator 7 is subjected as measured by the six-dimensional force/torque sensor; t is_cbRepresents the contact moment to which the service satellite body simulator 7 is subjected as measured by the six-dimensional force/moment sensor;

(3) assuming that the service satellite ontology simulator 7 is a rigid body, and on the premise of not considering the satellite orbit dynamics, the kinetic equation of the service satellite ontology simulator 7 is expressed as follows:

$M_b{\stackrel{\·}{v}}_b=f_b---4$

$I_b{\stackrel{\·}{\mathrm{\ω}}}_b+{\mathrm{\ω}}_b\×I_b{\mathrm{\ω}}_b={\mathrm{\τ}}_b---5$

wherein M is_bRepresentative service guardThe mass of the base of the satellite body simulator 7;representing base motion line acceleration; f. of_bRepresenting the force to which the base is subjected; i is_bRepresents the inertia of the base of the service satellite ontology simulator 7;representing angular acceleration of the base motion line; tau is_bRepresenting the moment experienced by the base.

(4) The specific process of calculating the terminal motion information of the industrial mechanical arm A9 by a kinematic equivalent algorithm according to the motion information of the base of the service satellite body simulator 7 is as follows:

1) converting the motion information of the service satellite body simulator in the inertial space into the motion information of the tail end of the industrial mechanical arm A9 under the base mark;

2) determining joint motion information of the industrial mechanical arm A9 through an inverse kinematics algorithm in an upper computer of the industrial mechanical arm A9;

3) the joint motion information is transmitted to the joint controller of the industrial robot through the internal bus of the industrial robot a9, and the joint controller controls the movement of the industrial robot a9 to realize the motion state of the service satellite body simulator 7. Other steps and parameters are the same as those in one of the first to seventh embodiments.

Claims (7)

1. A device for simulating a space manipulator to capture the ground three-dimensional space microgravity of a target satellite is characterized in that the device for simulating the space manipulator to capture the ground three-dimensional space microgravity of the target satellite specifically comprises an industrial manipulator A (9) and an industrial manipulator T (10); the device comprises a space mechanical arm (2), a hand-eye camera (3), a capturing paw (4), a capturing interface (6), a service satellite body simulator (7), a target satellite body simulator (8) and a six-dimensional force/torque sensor (11);

the tail end of the industrial mechanical arm A (9) is connected with the service satellite body simulator (7), and the service satellite body simulator (7) is connected with the six-dimensional force/torque sensor (11) through a connecting flange; the six-dimensional force/torque sensor (11) is connected with the space manipulator (2) through a connecting flange; the space manipulator (2) is connected with the hand-eye camera (3) through a bolt, and the hand-eye camera (3) is connected with the capture paw (4) through a bolt;

the industrial mechanical arm T (10) is connected with a six-dimensional force/torque sensor (11) through a connecting flange, and the six-dimensional force/torque sensor (11) is connected with a target satellite body simulator (8) through the connecting flange; the target satellite body simulator (8) is connected with the capturing interface (6);

wherein, the capturing interface (6) is matched with the capturing paw (4).

2. A method for realizing the acquisition of the ground three-dimensional space microgravity of a target satellite by a simulated space mechanical arm is characterized by comprising the following steps: the implementation method for capturing the ground three-dimensional space microgravity of the target satellite by the simulated space mechanical arm specifically comprises the following steps:

simulating the motion of a target satellite; simulating the actual motion state of the target satellite by a target satellite body simulator (8) through an industrial mechanical arm T (10) by using a kinematic equivalent algorithm;

secondly, acquiring a visual image of the relative motion information of the target satellite body simulator (8) in the first step through the hand-eye camera (3), and determining the position of the target satellite body simulator (8) relative to the hand-eye camera (3) and the posture of the satellite body simulator (8) according to the visual image;

thirdly, transmitting the relative position and the posture determined in the second step to a space manipulator (2) controller, and determining the tail end motion information of the space manipulator (2) by the space manipulator (2) controller according to the relative position and the posture information; determining motion information of each joint of the space manipulator (2) according to the motion information of the tail end of the space manipulator (2); wherein the motion information of each joint of the space manipulator (2) comprises the joint angular acceleration of the space manipulatorAnd joint angular velocity of space manipulatorThe lower corner mark m is a space manipulator; the tail end of the space manipulator (2) is specifically a joint of the space manipulator (2) and the hand-eye camera (3);

step four, calculating the motion information of the base of the service satellite body simulator (7) according to the motion information of each joint of the space manipulator (2);

calculating the tail end motion information of the industrial mechanical arm A (9) through a kinematic equivalent algorithm according to the motion information of the base of the service satellite body simulator (7); the tail end of the industrial mechanical arm A (9) is a connecting part of the industrial mechanical arm A (9) and the service satellite body simulator (7);

sixthly, determining the posture of the target satellite body simulator (8) relative to the position of the hand-eye camera (3) according to the visual image to judge whether the connection capture interface (6) is in a capture area where the capture paw (4) is located; if the capture paw is in the capture area where the capture paw (4) is located, performing step eight; if not, repeating the first to fifth steps; until the capture interface (6) is within the capture area in which the capture paw (4) is located;

controlling a capturing paw (4) to capture a target satellite body simulator (8) by using a controller of the space manipulator (2);

step eight, after the capturing paw (4) captures the target satellite body simulator (8), the target satellite body simulator (8) estimates the motion state of the target satellite body simulator (8) through a dynamic algorithm according to the received contact force;

step nine, simulating the motion state of the actual target satellite after the industrial mechanical arm T (10) is stressed by a kinematics equivalent method according to the motion state of the target satellite body simulator (8) estimated in the step eight;

step ten, calculating the motion state of the service satellite body simulator (7) according to the external force and the external moment generated by the contact between the capturing paw (4) and the target satellite body simulator (8) measured by the moment sensor and the base through a dynamic algorithm of a space mechanical arm, and realizing the motion state of the service satellite body simulator (7) by utilizing the motion of the industrial mechanical arm A (9) through a kinematic equivalent algorithm.

3. The method for realizing the acquisition of the ground three-dimensional space microgravity of the target satellite by the simulated space mechanical arm according to the claim 2 is characterized in that: in the first step, a specific process of simulating the actual motion state of the target satellite by the target satellite body simulator (8) through the industrial mechanical arm T (10) by using a kinematic equivalent algorithm is as follows:

1) converting the motion information of the target satellite body simulator (8) in an inertial space into the motion information of the tail end of the industrial mechanical arm T (10) under the base standard system;

2) determining joint motion information of the industrial mechanical arm T (10) through an inverse kinematics algorithm in an upper computer of the industrial mechanical arm T (10);

3) the joint motion information is transmitted to a joint controller of the industrial mechanical arm through an internal bus of the industrial mechanical arm T (10), and the joint controller controls the movement of the industrial mechanical arm T (10).

4. The method for realizing the acquisition of the microgravity of the target satellite in the ground three-dimensional space by the simulated space mechanical arm according to the claim 3 is characterized in that: in the third step, the motion information of the base of the service satellite body simulator (7) is calculated according to the motion information of each joint of the space manipulator (2);

(1) solving according to a Lagrange equation to obtain a dynamic equation representation form of a service satellite body simulator (7), a space manipulator (2), a hand-eye camera (3) and a capture paw (4) composition system as follows:

$\left[\begin{array}{cc}{H}_b& H_{bm}\\ H_{bm}^T& H_m\end{array}\right]\left[\begin{array}{c}{\stackrel{\·\·}{x}}_b\\ {\stackrel{\·\·}{q}}_m\end{array}\right]+\left[\begin{array}{c}{c}_b\\ c_m\end{array}\right]=\left[\begin{array}{c}{F}_b\\ F_m\end{array}\right]+\left[\begin{array}{c}{J_b}^T\\ {J_m}^T\end{array}\right]F_{ex}---\left(1\right)$

in the formula, H_bAn inertia tensor for the serving satellite ontology simulator (7); h_mAn inertia tensor coupled for the space manipulator (2); h_bmAn inertia tensor for coupling a base of the service satellite body simulator (7) and the space manipulator (2);serving the acceleration of the movement of the base of the satellite ontology simulator (7); c. C_bIs a non-linear force related to the motion of the base of the serving satellite body simulator (7), c_bComprises a centripetal force related to the motion of a service satellite body simulator (7) and a Cogowski force related to the motion of a base; c. C_mNon-linear forces related to the motion of the space manipulator (2), c_mThe centripetal force related to the motion of the space manipulator (2) and the Cogowski force related to the motion of the space manipulator (2) are included; c. C_b、c_m∈R⁶；F_b∈R⁶For acting on forces and moments of the service satellite body simulator (7), F_m∈R⁶The driving moment of the space manipulator (2) joint is obtained; j. the design is a square_bIs a Jacobian matrix related to the motion of a service satellite body simulator (7); j. the design is a square_mThe end of the space manipulator (2) is subjected to external force and external moment F as a Jacobian matrix related to the motion of the space manipulator (2)_ex∈R⁶；

(2) The following formula is derived from equation (1):

$H_b{\stackrel{\·}{x}}_b+H_{bm}{\stackrel{\·}{q}}_m=0---\left(2\right)$

${\stackrel{\·}{x}}_b={\[v_b,{\mathrm{\ω}}_b\]}^T=-H_b^{-1}\left(H_{bm}{\stackrel{\·}{q}}_m\right)---\left(3\right)$

in the formula,respectively representing the movement speed of the service satellite body simulator (7) base; v. of_bRepresenting the linear velocity of the service satellite body simulator (7) base motion; omega_bRespectively representing the angular velocity of the movement of the base of the service satellite body simulator (7).

5. The method for realizing the acquisition of the microgravity of the target satellite in the ground three-dimensional space by the simulated space mechanical arm according to the claim 4 is characterized in that: in the fourth step, according to the motion information of the base of the service satellite body simulator (7), the specific process of calculating the tail end motion information of the industrial mechanical arm A (9) through a kinematic equivalent algorithm comprises the following steps:

1) converting the motion information of the service satellite body simulator in an inertial space into the motion information of the tail end of an industrial mechanical arm A (9) under a base standard;

2) determining joint motion information of the industrial mechanical arm A (9) through an inverse kinematics algorithm in an upper computer of the industrial mechanical arm A (9);

3) the joint motion information is transmitted to a joint controller of the industrial mechanical arm through an internal bus of the industrial mechanical arm A (9), and the joint controller controls the movement of the industrial mechanical arm A (9).

6. The method for realizing the acquisition of the microgravity of the target satellite in the ground three-dimensional space by the simulated space mechanical arm according to the claim 5 is characterized in that: in the eighth step, after the capturing paw (4) captures the target satellite body simulator (8), the target satellite body simulator (8) estimates the specific process of the motion state of the satellite body simulator (8) through a dynamic algorithm according to the received contact force:

eighthly, calculating gravity compensation of the target satellite body simulator (8) on the six-dimensional force/moment sensor to obtain a specific gravity and gravity moment formula of the target satellite body simulator (8) under a six-dimensional force/moment sensor coordinate system as follows:

$F_{gs}=R_G^S\·F_g---\left(8\right)$

$T_{gs}=P_s\×(g_G^S\·F_g)---\left(9\right)$

in the formula, F_gRepresenting the gravity of the target satellite body simulator (8) under a gravity coordinate system;a transformation matrix representing the center of gravity of the target satellite body simulator (8) from a six-dimensional force/moment sensor coordinate system to a gravity coordinate system; p_sRepresenting a position vector of the gravity center position of the target satellite body simulator (8) under a six-dimensional force/torque sensor coordinate system; f_gsRepresenting the gravity of the target satellite body simulator (8) under a six-dimensional force/moment sensor coordinate system; t is_gsRespectively representing the gravity moment of the target satellite body simulator (8) under a six-dimensional force/moment sensor coordinate system;

eighthly, calculating f through the contact force and contact moment of the capturing paw (4) and the target satellite body simulator (8) measured by the six-dimensional force/moment sensor and the difference value of the gravity and the gravity moment of the target satellite body simulator (8) in the six-dimensional force/moment sensor coordinate system_tAnd τ_tThe concrete formula is as follows:

f_t＝F_ct-F_gs

τ_t＝T_ct-T_gs

wherein, F_ctCapture paw (4) and target satellite body simulation representing six-dimensional force/torque sensor measurementThe contact force of the device (8); t is_ctRepresenting the contact torque of the capturing paw (4) and the target satellite body simulator (8) measured by the six-dimensional force/torque sensor; f. of_tRepresenting an external force acting on the target satellite body simulator (8); tau is_tRepresenting external moments acting on the target satellite ontology simulator (8);

and eighthly, assuming that the target satellite body simulator (8) is a single rotating rigid body, and under the premise of not considering satellite orbit dynamics, expressing the dynamic equation of the target satellite body simulator (8) as follows:

$M_t{\stackrel{\·}{v}}_t=f_t---\left(6\right)$

$I_t{\stackrel{\·}{\mathrm{\ω}}}_t+{\mathrm{\ω}}_t\×I_t{\mathrm{\ω}}_t={\mathrm{\τ}}_t---\left(7\right)$

in the formula, M_tRepresents the quality of the target satellite ontology simulator (8);represents the linear acceleration of the target satellite ontology simulator (8); omega_tRespectively representing the angular velocity of the target satellite body simulator (8); i is_tRespectively representing the inertia of the target satellite body simulator (8);representing the angular acceleration of the target satellite ontology simulator (8).

7. The method for realizing the acquisition of the microgravity of the target satellite in the ground three-dimensional space by the simulated space mechanical arm according to the claim 6 is characterized in that: in the step ten, the motion state of the service satellite body simulator (7) is calculated through a dynamic algorithm of a space mechanical arm according to the external force and the external moment generated by the contact between the capturing paw (4) and the target satellite body simulator (8) measured by a moment sensor and the base, and the motion state of the service satellite body simulator (7) is realized through a kinematic equivalent algorithm by utilizing the motion of an industrial mechanical arm A (9):

(1) the gravity compensation of the space manipulator (2) to the six-dimensional force/torque sensor is calculated to obtain the specific formula of the gravity and the gravity torque of the space manipulator (2) under the six-dimensional force/torque sensor coordinate system as follows:

$\begin{array}{c}{\hat{F}}_{gs}=F_{gs1}+F_{gs2}+F_{gs3}+F_{gs4}\\ =R_{G1}^S\·G_1+R_{G2}^S\·G_2+R_{G3}^S\·G_3+R_{G4}^S\·G_4\\ {\hat{T}}_{gs}=T_{gs1}+T_{gs2}+T_{gs3}+T_{gs4}\\ =r_1\×(R_{G1}^S\·G_1)+r_2\×(R_{G2}^S\·G_2)+r_3\×(R_{G3}^S\·G_3)+r_4\×(R_{G4}^S\·G_4)\end{array}$

in the formula, G₁Representing the gravity of a first rod piece of the space manipulator (2) under a gravity coordinate system; f_gs1Representing the gravity of a first rod piece of the space manipulator (2) under a six-dimensional force/torque sensor coordinate system;a transformation matrix representing the center of gravity of the first bar of the space manipulator (2) from a six-dimensional force/torque sensor coordinate system to a gravity coordinate system; t is_gs1The space manipulator (2) represents the gravity moment of a first rod piece of the space manipulator (2) under a six-dimensional force/moment sensor coordinate system; r is₁Six-dimensional force/force representing the position of the center of gravity of the first bar of the space manipulator (2)A position vector under a moment sensor coordinate system;representing the gravity of the whole space manipulator (2) under a six-dimensional force/torque sensor coordinate system;

G₂representing the gravity of a second rod piece of the space manipulator (2) under a gravity coordinate system; f_gs2Representing the gravity of a second rod of the space manipulator (2) under a six-dimensional force/torque sensor coordinate system;a transformation matrix representing the center of gravity of the second rod of the space manipulator (2) from a six-dimensional force/torque sensor coordinate system to a gravity coordinate system; t is_gs2Representing the gravity moment of a second rod piece of the space manipulator (2) under a six-dimensional force/moment sensor coordinate system; r is₂Representing a position vector of the gravity center position of a second rod of the space manipulator (2) in a six-dimensional force/torque sensor coordinate system;respectively representing the gravitational moment of the whole space manipulator (2) under a six-dimensional force/moment sensor coordinate system;

G₃representing the gravity of a third rod piece of the space manipulator (2) under a gravity coordinate system; f_gs3Representing the gravity of a third rod piece of the space manipulator (2) under a six-dimensional force/torque sensor coordinate system;a transformation matrix representing the gravity center of a third rod of the space manipulator (2) from a six-dimensional force/torque sensor coordinate system to a gravity coordinate system; t is_gs3Respectively representing the gravity moment of a third rod piece of the space manipulator (2) under a six-dimensional force/moment sensor coordinate system; r is₃Representing a position vector of the gravity center position of a third rod of the space manipulator (2) in a six-dimensional force/torque sensor coordinate system;

G₄the fourth bars respectively representing the space manipulator (2) are heavyGravity under a force coordinate system; f_gs4Respectively representing the gravity of a fourth rod piece of the space manipulator (2) under a six-dimensional force/torque sensor coordinate system;the transformation matrixes respectively represent the transformation matrixes of the gravity center of the fourth rod piece of the space manipulator (2) from a six-dimensional force/torque sensor coordinate system to a gravity coordinate system; t is_gs4Respectively representing the gravity moment of a fourth rod of the space manipulator (2) under a six-dimensional force/moment sensor coordinate system; r is₄Respectively representing position vectors of the gravity center position of a fourth rod of the space manipulator (2) in a six-dimensional force/torque sensor coordinate system;

(2) f is calculated by the difference between the contact force and the contact torque which are applied to the service satellite body simulator (7) and the gravity torque of the space manipulator (2) under the six-dimensional force/torque sensor coordinate system measured by the six-dimensional force/torque sensor_bAnd τ_bThe concrete formula is as follows:

f_b＝F_cb-F_gs

τ_b＝T_cb-T_gs

wherein, F_cbRepresenting the contact force to which the service satellite ontology simulator (7) is subjected as measured by a six-dimensional force/torque sensor; t is_cbRepresents the contact moment to which the service satellite body simulator (7) is subjected as measured by the six-dimensional force/moment sensor;

(3) assuming that the service satellite ontology simulator (7) is a rigid body, and on the premise of not considering satellite orbit dynamics, the dynamic equation of the service satellite ontology simulator (7) is expressed as follows:

$M_b{\stackrel{\·}{v}}_b=f_b---\left(4\right)$

$I_b{\stackrel{\·}{\mathrm{\ω}}}_b+{\mathrm{\ω}}_b\×I_b{\mathrm{\ω}}_b={\mathrm{\τ}}_b---\left(5\right)$

wherein M is_bRepresents the quality of the service satellite ontology simulator (7) base;representing base motion line acceleration; f. of_bRepresenting the force to which the base is subjected; i is_bRepresents the inertia of the base of the service satellite ontology simulator (7);representing angular acceleration of the base motion line; tau is_bRepresenting the moment borne by the base;

(4) the specific process of calculating the tail end motion information of the industrial mechanical arm A (9) through a kinematic equivalent algorithm according to the motion information of the base of the service satellite body simulator (7) is as follows:

1) converting the motion information of the service satellite body simulator in an inertial space into the motion information of the tail end of an industrial mechanical arm A (9) under a base standard;

2) determining joint motion information of the industrial mechanical arm A (9) through an inverse kinematics algorithm in an upper computer of the industrial mechanical arm A (9);

3) the joint motion information is transmitted to a joint controller of the industrial mechanical arm through an internal bus of the industrial mechanical arm A (9), and the joint controller controls the movement of the industrial mechanical arm A (9) to realize the motion state of the service satellite body simulator (7).