CN111113456A - Space manipulator on-orbit operation platform and system - Google Patents
Space manipulator on-orbit operation platform and system Download PDFInfo
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- CN111113456A CN111113456A CN201911351879.3A CN201911351879A CN111113456A CN 111113456 A CN111113456 A CN 111113456A CN 201911351879 A CN201911351879 A CN 201911351879A CN 111113456 A CN111113456 A CN 111113456A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of space manipulators, in particular to an on-orbit operation platform and an on-orbit operation system for a space manipulator. Space arm is at orbit operation platform, including control module, operation display module, force feedback handle module, wherein: the operation display module is electrically connected with the control module and is used for realizing the input of a control instruction of the mechanical arm and displaying various states of the mechanical arm; the force feedback handle module is electrically connected with the control module and is used for realizing the operation of a single joint of the mechanical arm, an elbow camera holder and an end effector; the control module is mainly used for interaction of data and instructions. The space manipulator on-orbit operating system comprises a space station data management platform, a manipulator and the space manipulator on-orbit operating platform. The space manipulator on-orbit operation platform and system have the advantages of high reliability, strong expandability, small time delay, high fault isolation and hardware on-orbit replacement capability, force feedback function and wide operation space design.
Description
Technical Field
The invention relates to the technical field of space manipulators, in particular to an on-orbit operation platform and an on-orbit operation system for a space manipulator.
Background
The space manipulator on-orbit operation system is used for supporting the astronaut cabin to control the motion of the manipulator and simultaneously supporting the ground teleoperation industry mode to monitor the manipulator, and is an initiating end and a state monitoring end for executing the tasks of the manipulator.
An MSS operating system which is successfully transmitted and applied to an operating system of a space manipulator at present is an international space station manipulator (SSRMS), and is constructed by a plurality of components by adopting a discrete design, so that the redundancy design is poor; the modularized design is not adopted, so that the on-track maintenance is inconvenient; the handle does not have the force feedback function, can't provide the force sense feedback to the operator, can't use power to realize the perception of operator to the unknown environment of slave end and arm and the interactive state of slave end environment as the passageway, and single vision interaction channel has restricted effect, efficiency and the security that the operator accomplished professional task.
Therefore, there is a need for a new space manipulator in-orbit handling system that overcomes the problems of the prior art.
Disclosure of Invention
The invention aims to provide an on-orbit operation platform and system for a space manipulator, which can realize immersion type control operation of a spaceman on the space manipulator by adopting a redundancy design, a modularization scheme and a force feedback handle technology.
In order to achieve the above object, the present invention provides an on-orbit operation platform of a space manipulator, comprising a control module, an operation display module and a force feedback handle module, wherein: the operation display module is electrically connected with the control module and is used for realizing the input of a control instruction of the mechanical arm and displaying various states of the mechanical arm; the force feedback handle module is electrically connected with the control module and is used for realizing the operation of a single joint of the mechanical arm, an elbow camera holder and an end effector; the control module is mainly used for interaction of data and instructions.
Further, the control module is a dual-computer cold backup control module and is used for realizing analysis of mechanical arm remote measurement parameters and instructions, data management and data forwarding processing.
Furthermore, the operation display module comprises a liquid crystal display and a shortcut key.
Further, the force feedback handle module includes a translation handle and a rotation handle, wherein: the translation handle is designed by a delta parallel mechanism with three degrees of freedom and is used for realizing the movement control of front and back, left and right, up and down and the movement control of a composite direction; the rotating handle is designed by a three-degree-of-freedom 3-RRR spherical parallel mechanism and is used for realizing attitude control of pitching, yawing and rotating and rotation control in a composite direction.
Furthermore, the operation display module and the force feedback handle module are respectively in information interaction with the control module through an internal bus.
The invention also provides an on-orbit operation system of the space manipulator, which comprises a space station data management platform, the manipulator and any one of the space manipulator on-orbit operation platforms, wherein: the space station data management platform performs information interaction with the space manipulator on-orbit operation platform through a system bus; the mechanical arm comprises an end effector and a central controller, and information interaction is carried out between the mechanical arm and the space mechanical arm on-orbit operation platform through a mechanical arm special bus.
Further, the control module adopts a CPU + FPGA architecture design and is used for: the bus instruction sent to the space manipulator on-orbit operation platform from the space station data management platform or the ground remote control is received, and the data is analyzed, extracted and executed; sending the state data of the space manipulator on-orbit operation platform and the manipulator to a space station data management platform; sending instructions to a special bus of the mechanical arm to realize the startup and shutdown of each functional module of the mechanical arm and the control of the motion state of the mechanical arm; and receiving remote measurement data of the mechanical arm, unpacking the data, extracting state information, performing emergency alarm or feeding back the state information to the force feedback handle module, and finishing the force sense interaction in the handle operation process.
Further, the space manipulator in-orbit operation system further comprises an instrument notebook, wherein: the space manipulator on-orbit operation platform is communicated with the instrument notebook through the Ethernet and is used for on-orbit training.
Further, the operation display panel of operation display module includes LCD screen display operation area, alarm lamp window district, operation mode selection district, operation object selection district, terminal operation district, handle auxiliary operation district, number key district, urgent operation district and the swift key zone of LCD screen, and LCD screen display operation divides into LCD screen state display fence, LCD screen operation area, LCD screen dynamic display fence, wherein: the operation mode selection area, the operation object selection area, the tail end operation area, the handle auxiliary operation area and the emergency operation area are used for realizing quick switching of a liquid crystal screen page and direct sending of a control instruction; the alarm lamp window area is used for alarming the system emergency and fault, and the alarm details are displayed and checked through the liquid crystal screen state display column; the liquid crystal display operation area realizes the operation on the page in a tour mode.
Further, the force feedback handle module comprises a handle mechanism and a handle control unit for motion control of the handle mechanism, wherein: the handle mechanism comprises a delta parallel mechanism for translating the handle and a 3-RRR spherical parallel mechanism for rotating the handle; the handle control unit comprises a data interaction module, a force feedback handle module, a servo drive module, a joint light coding processing module, a motor light coding processing module and a motor power drive module, wherein the data interaction module is used for finishing communication port management, state data analysis, state reporting and handle control instruction output; the force feedback handle module calculates the tail end position/attitude angle of the handle by collecting the photoelectric angle of the joint, and simultaneously calculates the handle feedback force and the corresponding motor current and outputs the force and the corresponding motor current to the servo driving module; the servo driving module collects the current of the current angle and the phase current of the motor optical coding according to the control current transmitted by the force feedback handle module and outputs a driving signal to realize motor torque closed-loop control; the motor power driving module is used for realizing the output of the motor power and driving the motor to act.
The space manipulator on-orbit operation platform and system have the following beneficial effects:
(1) the redundancy design among and inside the equipment is carried out in the aspects of power supply and distribution, equipment function division and the like, and the multiple-mode instruction input mode and the coincidence control mode can better meet the functional soundness of a single module under the condition of failure.
(2) The space manipulator on-orbit operation platform system has strong expandability, supports on-orbit maintenance, can better realize the maintenance of system faults and the addition of new functions by updating a plurality of software configuration items in the system on-orbit, and better meets the execution of long-term on-orbit tasks of space stations.
(3) The modular design is adopted, so that the on-orbit replacement capability of hardware and the high fault isolation degree are achieved, and the requirements of man-machine ergonomics design and long service life of a space environment are well met.
(4) The force feedback mechanism has a force feedback function, and the force feedback technology is introduced into the on-orbit operation of the space manipulator for the first time, so that the telepresence of an operator can be better enhanced, the operation efficiency of the manipulator is improved, and professionals can obtain all-round visual and force information; meanwhile, when an emergency or an accident occurs, an effective force sense prompt can be provided, and the mechanical arm or the aircraft is prevented from being damaged.
(5) The time delay is small, a mechanical arm special bus scheme is provided and adopted, and the time delay is applied to mechanical arm subsystems, so that the system bus topology is optimized, and the time delay problem of a series control system is solved well;
(6) the force feedback operation mode of position-speed mapping is provided and designed, the spherical mechanism is extended into the force interaction equipment, the decoupling and composite control requirements of the mechanical arm posture are well met, the wide operation space (+/-40 degrees) design (the international space station index is +/-22.5 degrees) is realized, and the better user experience is achieved.
(7) An on-orbit training function is designed and reserved, and the on-orbit training function is combined with a simulation notebook computer, so that simulation can be performed on tasks to be executed by the space manipulator, the risk of the tasks is reduced, and the operation efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of the space manipulator in-orbit operating system of the present invention;
FIG. 2 is a system architecture of a control module according to the present invention;
FIG. 3 is a functional block diagram of a control module of the present invention;
FIG. 4 is a layout diagram of an operation display module according to the present invention;
FIG. 5 is a functional block diagram of an operation display module according to the present invention;
FIG. 6 is a block diagram of the force feedback handle control unit of the present invention;
in the figure: 1-a liquid crystal screen state display column, 2-a liquid crystal screen operation area, 3-an alarm lamp window area, 4-an operation mode selection area, 5-an operation object selection area, 6-a tail end operation area, 7-a handle auxiliary operation area, 8-a numeric key area, 9-an emergency operation area, 10-a liquid crystal screen shortcut key area, 11-a liquid crystal screen dynamic display column and 12-a liquid crystal screen display auxiliary operation area;
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the space manipulator on-orbit operation platform of the present invention comprises a control module, an operation display module, and a force feedback handle module, wherein: the operation display module is electrically connected with the control module and is used for realizing the input of a control instruction of the mechanical arm and displaying various states of the mechanical arm; the force feedback handle module is electrically connected with the control module and is used for realizing the operation of a single joint of the mechanical arm, an elbow camera holder and an end effector; the control module is mainly used for interaction of data and instructions.
Specifically, the control module is a dual-computer cold backup control module and is used for realizing analysis of mechanical arm remote measurement parameters and instructions, data management and data forwarding processing. The operation display module comprises a liquid crystal display and a shortcut key. The force feedback handle module comprises a translational handle and a rotary handle, wherein: the translation handle is designed by a delta mechanism with three degrees of freedom and is used for realizing the movement control of front and back, left and right, up and down and the movement control in a composite direction; the rotating handle is designed by a three-degree-of-freedom 3-RRR spherical surface parallel mechanism and is used for realizing attitude control of pitching, yawing and rotating and rotation control in a composite direction; the force feedback handle module is used as an important man-machine interface between the astronaut and the mechanical arm and is mainly used for realizing the operation of a single joint of the mechanical arm, an elbow camera holder and an end effector; when the mechanical arm encounters an obstacle or reaches the limit of the range of motion of the mechanical arm, a proper feedback form can be provided, and an alarm can be given in time; the device is provided with a translation handle and a rotation handle which respectively control the position and the posture of the end effector correspondingly; the handle feedback torque can realize the proportional superposition of the handle beneficial resistance and the tail end contact force/torque. The operation display module and the force feedback handle module are respectively in information interaction with the control module through the internal bus.
The space manipulator on-orbit operation platform has a force feedback function, and the force feedback technology is introduced into the on-orbit operation of the space manipulator for the first time, so that the on-site feeling of an operator can be better enhanced, the operation efficiency of the manipulator is improved, and professionals can obtain all-round visual and force information; meanwhile, when an emergency or an accident occurs, an effective force sense prompt can be provided, and the mechanical arm or the aircraft is prevented from being damaged.
As shown in fig. 1, the space manipulator on-orbit operating system of the present invention includes a space station data management platform, a manipulator, and the space manipulator on-orbit operating platform of the above embodiment, wherein: the space station data management platform performs information interaction with the space manipulator on-orbit operation platform through a system bus; the mechanical arm mainly comprises an end effector and a central controller, and information interaction is carried out between the mechanical arm and the space mechanical arm on-orbit operation platform through a mechanical arm special bus.
Furthermore, the control module is designed by adopting a CPU + FPGA architecture and is used for receiving a bus instruction sent to an on-orbit operation platform of the space manipulator by a data management platform of a space station or a ground remote control, analyzing, extracting and executing data; sending the state data of the space manipulator on-orbit operation platform and the manipulator to a space station data management platform; sending instructions to a special bus of the mechanical arm to realize the startup and shutdown of each functional module of the mechanical arm and the control of the motion state of the mechanical arm; and receiving remote measurement data of the mechanical arm, unpacking the data, extracting state information, performing emergency alarm or feeding back the state information to the force feedback handle module, and finishing the force sense interaction in the handle operation process. Sending the state data of the space manipulator on-orbit operation platform and the manipulator to a space station data management platform; sending instructions to a special bus of the mechanical arm to realize the startup and shutdown of each functional module of the mechanical arm and the control of the motion state of the mechanical arm; and receiving remote measurement data of the mechanical arm, unpacking the data, extracting state information, performing emergency alarm or feeding back the state information to the force feedback handle module, and finishing the force sense interaction in the handle operation process.
Further, the space manipulator in-orbit operation system further comprises an instrument notebook, wherein: the space manipulator on-orbit operation platform is communicated with the instrument notebook through the Ethernet and is used for on-orbit training.
Specifically, as shown in fig. 2, the control module adopts a system architecture of CPU + FPGA, and its peripheral circuits include a minimum circuit and a memory chip, which are necessary for the CPU system to work, a system bus control chip, a bus control chip dedicated to the mechanical arm, an ethernet control chip, and an internal bus control chip, which communicates with other modules inside the control module. The CPU adopts the integrated design of operating system software and application software, and is solidified in a program area together. When the equipment is powered on or restarted, the system software firstly completes hardware initialization, then starts an operating system software kernel to create a multi-task environment, and finally enters into an initialization task of the application software by using an interface between the operating system software and the application software, and the application software completes a specific function under the support of the system software. The FPGA completes the sequential logic management of the peripheral chip and the interface data management of the internal bus and the Ethernet. In addition, in order to improve the reliability of the control module and on the aspect of hardware, a dual-computer redundancy cold backup design is adopted. The hardware structures of the double computers are completely consistent, and the external interfaces adopt a merging and isolating design. In the design, a magnetic latching relay is used for receiving a program control startup and shutdown instruction from a data management platform of a space station, so that the startup and shutdown of the two machines are controlled. In the aspect of software, a mode of loading three or two and starting multiple backups is adopted, and capability design supporting on-orbit software maintenance and parameter revision is adopted (the software design idea is also applied to other modules at the same time).
As shown in fig. 3, under the coordination of software and hardware, the control module has the functions of receiving a bus instruction sent to the in-orbit operation system of the mechanical arm from the data management platform of the space station or the ground remote control, analyzing, extracting and executing the data; meanwhile, the on-orbit operation platform of the space manipulator and the state data of the manipulator are sent to a data management platform of the space station; the function of sending instructions to the special bus of the mechanical arm is provided; the force feedback control system is provided with a force feedback handle module, a force feedback control module and a force feedback control module, wherein the force feedback control module is used for receiving remote measurement data of the whole space manipulator, unpacking the data and extracting state information for emergency alarm or feedback; the on-orbit training device has the function of communicating with the simulation notebook computer through the Ethernet to perform on-orbit training; the system has the function of communicating with other modules in the mechanical arm on-track operating system through an internal bus; the system has the functions of performing on-orbit maintenance by own key software and performing on-orbit maintenance by the auxiliary mechanical arm subsystem key software.
Further, the operation display panel of the operation display module comprises a liquid crystal screen state display column 1, a liquid crystal screen operation area 2, an alarm lamp window area 3, an operation mode selection area 4, an operation object selection area 5, a tail end operation area 6, a handle auxiliary operation area 7, a numeric key area 8, an emergency operation area 9, a liquid crystal screen shortcut key area 10, a liquid crystal screen dynamic display column 11 and a liquid crystal screen display auxiliary operation area 12; wherein: the liquid crystal screen state display column 1, the liquid crystal screen operation area 2, the liquid crystal screen dynamic display column 11 and the liquid crystal screen display auxiliary operation area 12 are used for liquid crystal screen display operation; the operation mode selection area 4, the operation object selection area 5, the tail end operation area 6, the handle auxiliary operation area 7 and the emergency operation area 9 are used for realizing quick switching of a liquid crystal screen page and direct sending of a control instruction; the alarm lamp window area 3 is used for alarming the emergency and the fault of the system, and the alarm details are displayed and checked through the liquid crystal screen state display column 1; the liquid crystal screen operation area 2 realizes the operation on the page in a tour or touch mode.
Specifically, the operation display module is composed of a shortcut key and a liquid crystal display. The entity of the operation display module is the operation display panel. The layout of the operation display panel is shown in fig. 4, and comprises a liquid crystal screen state display column 1, a liquid crystal screen operation area 2, an alarm lamp window area 3, an operation mode selection area 4, an operation object selection area 5, a tail end operation area 6, a handle auxiliary operation area 7, a numeric keypad 8, an emergency operation area 9, a liquid crystal screen shortcut keypad 10, a liquid crystal screen dynamic display column 11 and a liquid crystal screen display auxiliary operation area 12. Through the cooperation of the operation mode selection area 4, the operation object selection area 5, the tail end operation area 6, the handle auxiliary operation area 7 and the emergency operation area 9, the quick switching of important pages in the liquid crystal screen and the direct sending of control instructions can be realized; the alarm lamp window area 3 is used for alarming the emergency and the fault of the system, and the alarm details can be checked through the liquid crystal screen state display column 1; the liquid crystal display operation area 2 can realize the operation on the page in a tour or touch mode. Through the design, the operation display module can realize the redundant design of the mechanical keys, the soft keys and the touch screen operation in the instruction input mode, thereby improving the reliability of the operation.
The functional block diagram of the operation display module is shown in fig. 5, and by means of an embedded hardware circuit, in cooperation with software development, and by using the layout design shown in fig. 4, the input of a control instruction of the mechanical arm and the display of various states of the mechanical arm can be completed, the switching between all the working modes and the operation modes of the mechanical arm is realized, and the function of single-joint control, multi-joint coordination control, end effector control, camera and pan-tilt control, mechanical arm motion stop, mechanical arm emergency stop control and the like is achieved. The ground maintenance of the operation display module software can be realized by reserving an external interface, and the on-orbit maintenance function of the software can be realized by data interaction of the internal bus.
Further, the force feedback handle module comprises a handle mechanism and a handle control unit for motion control of the handle mechanism, wherein: the handle mechanism comprises a delta parallel mechanism for translating the handle and a 3-RRR spherical parallel mechanism for rotating the handle; the handle control unit comprises a data interaction module, a force feedback handle module, a servo drive module, a joint light coding processing module, a motor light coding processing module and a motor power drive module, wherein the data interaction module is used for finishing communication port management, state data analysis, state reporting and handle control instruction output; the force feedback handle module calculates the tail end position/attitude angle of the handle by collecting the photoelectric angle of the joint, and simultaneously calculates the handle feedback force and the corresponding motor current and outputs the force and the corresponding motor current to the servo driving module; the servo driving module collects the current of the current angle and the phase current of the motor optical coding according to the control current transmitted by the force feedback handle module and outputs a driving signal to realize motor torque closed-loop control; the motor power driving module is used for realizing the output of the motor power and driving the motor to act.
Specifically, the force feedback handle module adopts a double-handle design and comprises a translational handle and a rotary handle, and each handle can realize the control of three degrees of freedom. The translation handle is designed by adopting a delta mechanism with three degrees of freedom, and can realize the movement control of front and back, left and right, up and down and the movement control in a composite direction, the rotation handle is designed by adopting a 3-RRR spherical parallel mechanism with three degrees of freedom, and can realize the attitude control of pitching, yawing and rotation and the control in the composite direction, the two handles adopt the same control circuit, and different force feedback algorithms are designed according to the characteristics of the mechanisms, so that the function of the force feedback handle is realized. As shown in fig. 6, the handle control unit is a structural diagram, and includes a data interaction module, a force feedback handle module, a servo drive module, a joint optical coding processing module, a motor optical coding processing module, and a motor power drive module. The data interaction module mainly completes communication port management, state data analysis, state reporting and handle control instruction output; the force feedback handle module calculates the tail end position/attitude angle of the handle by collecting the photoelectric angle of the joint, and simultaneously calculates the handle feedback force and the corresponding motor current and outputs the force and the corresponding motor current to the servo driving module; the servo driving module collects the current of the current angle and the phase current of the motor optical coding according to the control current transmitted by the force feedback handle module, and outputs a driving signal to realize motor torque closed-loop control. The motor power driving module takes a three-phase inverter as a core device and is combined with an overcurrent protection circuit to realize the output of motor power and drive the motor to act.
Furthermore, the space manipulator is an on-orbit operation system, and redundancy design among equipment and inside equipment is performed in the aspects of power supply and distribution, equipment function division and the like in order to improve reliability. The redundancy measures mainly include: a device power supply bus adopts redundant cold backup; the data resolving and managing core adopts a redundancy design; the input mode of the instruction adopts redundancy measures of mechanical keys, soft keys and touch screen operation.
According to the space manipulator on-orbit operation platform, a control module with double-machine cold backup is selected for analyzing telemetry parameters and instructions of a manipulator subsystem and managing data, and forwarding and processing related subsystem data. The human-computer interaction between an operator and the space manipulator is realized by adopting various means such as vision, touch, hearing and the like, so that the motion operation of the manipulator can be finished more friendly, comfortable and intuitive. Meanwhile, a simulation operation function can be provided, and an instruction is sent to the simulation notebook through the Ethernet to drive the simulation notebook so as to realize the capability of on-orbit training of astronauts. The robot arm control system has the functions of controlling the motion of the robot arm and monitoring the state of the robot arm, and simultaneously supports the operation and monitoring of the robot arm in a ground remote control and teleoperation mode.
According to the space manipulator on-orbit operation system, the acquisition of personnel instructions, actions and parameters is completed through the input modes of a touch screen of an operation display module or a manual control key, a force feedback handle module and the like, and the acquisition is issued to the space manipulator through a manipulator special bus after the comprehensive analysis and the calculation of a control module, so that the motion control of the space manipulator is completed; meanwhile, the control module collects the state information of the space manipulator through a special manipulator bus to complete closed-loop control, health monitoring and fault alarm of the motion of the space manipulator; and the control module uploads the state information of the whole space manipulator and the on-orbit operation system to the space station data management platform and receives the bus instruction and maintenance data of the system. The on-orbit operation platform of the space manipulator is a man-machine interaction interface for completing the on-orbit operation of the space manipulator, also provides a simulation operation function for completing the on-orbit simulation operation of the space manipulator, and is a core control unit for completing tasks of the space manipulator.
The space manipulator on-orbit operation system has high reliability, strong expandability and smaller time delay; the modularized design is adopted, so that the on-track replacement capability of the hardware and the fault isolation degree are high; the force feedback function is provided, so that the telepresence of an operator can be better enhanced, and the operation efficiency of the mechanical arm is improved; moreover, the decoupling and composite control requirements of the mechanical arm postures are better met, the design of a wide operation space is realized, and the mechanical arm posture decoupling and composite control system has better user experience; in addition, an on-orbit training function is designed and reserved, and the on-orbit training function is combined with a simulation notebook computer, so that simulation can be performed on tasks to be executed by the space manipulator, the risk of the tasks is reduced, and the operation efficiency is improved.
The present invention has been further described with reference to specific embodiments, but it should be understood that the detailed description should not be construed as limiting the spirit and scope of the present invention, and various modifications made to the above-described embodiments by those of ordinary skill in the art after reading this specification are within the scope of the present invention.
Claims (10)
1. The utility model provides a space manipulator is at rail operation platform which characterized in that, includes control module, operation display module, force feedback handle module, wherein:
the operation display module is electrically connected with the control module and is used for realizing the input of a control instruction of the mechanical arm and displaying various states of the mechanical arm;
the force feedback handle module is electrically connected with the control module and is used for realizing the operation of a single joint of the mechanical arm, an elbow camera holder and an end effector;
the control module is mainly used for interaction of data and instructions.
2. The space manipulator on-orbit operation platform of claim 1, wherein the control module is a dual-computer cold backup control module, and is used for realizing the analysis of manipulator telemetry parameters, commands and data management, and the forwarding processing of data.
3. The space manipulator on-orbit operation platform of claim 1, wherein the operation display module comprises a liquid crystal display and a shortcut key.
4. The space manipulator in-orbit operating platform of claim 1, wherein the force feedback handle module comprises a translational handle and a rotational handle, wherein:
the translation handle is designed by a delta parallel mechanism with three degrees of freedom and is used for realizing the movement control of front and back, left and right, up and down and the movement control of a composite direction;
the rotating handle is designed by a three-degree-of-freedom 3-RRR spherical parallel mechanism and is used for realizing attitude control of pitching, yawing and rotating and rotation control in a composite direction.
5. The space manipulator on-orbit operation platform of claim 1, wherein the operation display module and the force feedback handle module are respectively in information interaction with the control module through an internal bus.
6. An in-orbit robotic arm operating system comprising a space station data management platform, a robotic arm, and the in-orbit robotic arm operating platform of any one of claims 1-5, wherein:
the space station data management platform performs information interaction with the space manipulator on-orbit operation platform through a system bus;
the mechanical arm comprises an end effector and a central controller, and the information interaction is carried out between the mechanical arm and the space mechanical arm on-orbit operation platform through a mechanical arm special bus.
7. The space manipulator in-orbit operating system of claim 6, wherein the control module is designed with a CPU + FPGA architecture for:
receiving a bus instruction sent to an on-orbit operation platform of the space manipulator by a data management platform of the space station or a ground remote control, and analyzing, extracting and executing data;
sending the state data of the space manipulator on-orbit operation platform and the manipulator to a space station data management platform;
sending instructions to a special bus of the mechanical arm to realize the startup and shutdown of each functional module of the mechanical arm and the control of the motion state of the mechanical arm;
and receiving remote measurement data of the mechanical arm, unpacking the data, extracting state information, performing emergency alarm or feeding back the state information to the force feedback handle module, and finishing the force sense interaction in the handle operation process.
8. The space manipulator in-orbit manipulation system of claim 7, further comprising a meter notebook, wherein:
the space manipulator on-orbit operation platform is communicated with the instrument notebook through the Ethernet and is used for on-orbit training.
9. The space manipulator on-orbit operating system of claim 6, wherein the operation display panel of the operation display module comprises a liquid crystal screen state display column, a liquid crystal screen operation area, an alarm light window area, an operation mode selection area, an operation object selection area, a tail end operation area, a handle auxiliary operation area, a number key area, an emergency operation area, a liquid crystal screen shortcut key area, a liquid crystal screen dynamic display column and a liquid crystal screen display auxiliary operation area, wherein:
the liquid crystal screen state display column, the liquid crystal screen operation area, the liquid crystal screen dynamic display column and the liquid crystal screen display auxiliary operation area are used for liquid crystal screen display operation;
the operation mode selection area, the operation object selection area, the tail end operation area, the handle auxiliary operation area and the emergency operation area are used for realizing quick switching of a liquid crystal screen page and direct sending of a control instruction;
the alarm lamp window area is used for alarming the system emergency and fault, and the alarm details are displayed and checked through the liquid crystal screen state display column;
the liquid crystal display operation area realizes the operation on the page in a tour or touch mode.
10. The space manipulator in-orbit manipulation system of claim 6, wherein the force feedback handle module comprises a handle mechanism and a handle control unit for motion control of the handle mechanism, wherein:
the handle mechanism comprises a delta parallel mechanism for translating the handle and a 3-RRR spherical parallel mechanism for rotating the handle;
the handle control unit comprises a data interaction module, a force feedback handle module, a servo drive module, a joint light coding processing module, a motor light coding processing module and a motor power drive module, wherein the data interaction module is used for finishing communication port management, state data analysis, state reporting and handle control instruction output; the force feedback handle module calculates the tail end position/attitude angle of the handle by collecting the photoelectric angle of the joint, and simultaneously calculates the handle feedback force and the corresponding motor current and outputs the force and the corresponding motor current to the servo driving module; the servo driving module collects the current of the current angle and the phase current of the motor optical coding according to the control current transmitted by the force feedback handle module and outputs a driving signal to realize motor torque closed-loop control; the motor power driving module is used for realizing the output of the motor power and driving the motor to act.
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