CN111113456B - Space manipulator on-orbit operation platform and system - Google Patents
Space manipulator on-orbit operation platform and system Download PDFInfo
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- CN111113456B CN111113456B CN201911351879.3A CN201911351879A CN111113456B CN 111113456 B CN111113456 B CN 111113456B CN 201911351879 A CN201911351879 A CN 201911351879A CN 111113456 B CN111113456 B CN 111113456B
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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]
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Abstract
The invention relates to the technical field of space manipulator, in particular to an on-orbit operation platform and system of a space manipulator. The space manipulator on-orbit operation platform 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 inputting control instructions of the mechanical arm and displaying various states of the mechanical arm; the force feedback module is electrically connected with the control module and is used for realizing the operation of the single joint of the mechanical arm, the elbow camera holder and the end effector; the control module is mainly used for interaction of data and instructions. The space manipulator on-orbit operation system comprises a space station data management platform, a manipulator and the space manipulator on-orbit operation platform. The space manipulator on-orbit operation system has the advantages of high reliability, strong expandability, smaller time delay, higher 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 manipulator, in particular to an on-orbit operation platform and system of a space manipulator.
Background
The space manipulator on-orbit operation system is used for supporting the movement function of the control manipulator in the astronaut cabin, and simultaneously supporting the monitoring manipulator in a ground teleoperation mode, and is an initiating end and a state monitoring end for executing the task of the manipulator.
The MSS operating system which is successfully transmitted and applied to the space manipulator at present has an international space station manipulator (SSRMS) operating platform, is formed by constructing a plurality of parts by adopting discrete design, and has poor redundant design; the modularized design is not adopted, so that on-orbit maintenance is inconvenient; the handle does not have a force feedback function, force feedback cannot be provided for an operator, the perception of an unknown environment of a slave end and the interaction state of the mechanical arm and the slave end cannot be realized by taking force as a channel, and the effect, efficiency and safety of the operator for completing a professional task are limited by a single visual interaction channel.
Therefore, there is a need to design a new space manipulator on-orbit operation system to overcome 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 the submerged control operation of the space manipulator by a spaceman by adopting a redundant design, a modularized scheme and a force feedback handle technology.
In order to achieve the above purpose, the invention provides an on-orbit operation platform of a space manipulator, which 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 inputting control instructions 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 the single joint of the mechanical arm, the elbow camera holder and the end effector; the control module is mainly used for interaction of data and instructions.
Furthermore, the control module is a control module of double-machine cold backup and is used for realizing analysis and data management of remote measuring parameters and instructions of the mechanical arm and forwarding processing of data.
Further, the operation display module comprises a liquid crystal screen and shortcut keys.
Further, the force feedback handle module comprises a handle mechanism comprising a translation handle and a rotation handle, wherein: the translation handle adopts a delta mechanism design with three degrees of freedom and is used for realizing front-back, left-right, up-down movement control and compound direction movement control; the rotating handle adopts a three-degree-of-freedom 3-RRR spherical parallel mechanism design and is used for realizing attitude control of pitching, yawing and rotating and rotation control of a composite direction.
Further, the translational handle and the rotary handle respectively correspond to the position and the gesture of the control end effector, and the handle feedback moment can realize the proportional superposition of the beneficial resistance of the handle and the terminal contact force/moment.
Further, the force feedback handle module further comprises a handle control unit for controlling the movement of the handle mechanism, wherein the handle control unit comprises a data interaction module, a force feedback module, a servo driving module, a joint optical editing processing module, a motor optical editing processing module and a motor power driving module; further, the operation display module and the force feedback handle module respectively conduct information interaction with the control module through the 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 above on-orbit operation platforms of the space manipulator, 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 end effector and the central controller respectively carry out information interaction with the space mechanical arm on-orbit operation platform through a special bus of the mechanical arm.
Further, the control module adopts a CPU+FPGA architecture design for: the method comprises the steps of receiving bus instructions sent to the space manipulator on-orbit operation platform from the space station data management platform or the ground remote control, and analyzing, extracting and executing the data; sending an instruction to a special bus of the mechanical arm; and receiving telemetry data of the whole space manipulator, unpacking the data, extracting state information to carry out emergency alarm or feed back to the force feedback handle module, and forwarding the telemetry data to the space station data management platform according to a protocol.
Further, the space manipulator on-orbit operating system further comprises a meter notebook, wherein: the space manipulator on-orbit operation platform is communicated with the instrument notebook computer through the Ethernet and is used for on-orbit training.
Further, the operation display panel of the operation display module includes a liquid crystal display operation area, an alarm lamp window area, an operation mode selection area, an operation object selection area, a terminal operation area, a handle auxiliary operation area, a numeric keypad, an emergency operation area, and a liquid crystal display shortcut key area, 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 the rapid switching of the liquid crystal screen page and the direct sending of the control instruction; the alarm lamp window area is used for alarming the emergency and faults of the system, and alarm details are displayed and checked through a liquid crystal screen state display column; the liquid crystal display operation area realizes the operation of pages in a tour mode.
Further, the data interaction module is used for completing communication port management, state data analysis, state reporting and handle control instruction output; the force feedback module is used for calculating the position/attitude angle of the tail end of the handle by collecting the joint photoelectric angle, and simultaneously calculating the feedback force of the handle and the corresponding motor current and outputting the feedback force and the corresponding motor current to the servo driving module; the servo driving module collects the current angle and phase current of the optical encoder of the motor according to the control current transmitted by the force feedback module, and outputs a driving signal to realize the torque closed-loop control of the motor; the motor power driving module is used for outputting motor power and driving the motor to act.
The space manipulator on-orbit operation system has the following beneficial effects:
(1) The system has high reliability, redundant designs between devices and inside devices are carried out in aspects of power supply and distribution, device function division and the like, and the multi-mode instruction input mode and the coincidence control mode can better meet the functional soundness of the system under the failure of a single module.
(2) The space manipulator on-orbit operation platform system supports on-orbit maintenance, and can better realize maintenance of system faults and addition of new functions by on-orbit updating of a plurality of software configuration items in the system, thereby better meeting the execution of long-term on-orbit tasks of space stations.
(3) The modularized design is adopted, so that the on-orbit hardware replacement system has higher fault isolation and hardware on-orbit replacement capability, and the requirements of the space environment on the ergonomic design and the long service life are better met.
(4) The device has a force feedback function, and the force feedback technology is introduced into the on-orbit operation of the space manipulator, so that the presence of an operator can be better enhanced, the operation efficiency of the manipulator is improved, and the professional can obtain all-round information of vision and force sense; meanwhile, when an emergency or unexpected situation occurs, an effective force sense prompt can be provided, and the mechanical arm or the aircraft is prevented from being damaged.
(5) The system has smaller time delay, a special bus scheme of the mechanical arm is provided and adopted, and the special bus scheme is applied to a mechanical arm subsystem, so that the system bus topology is optimized, and the time delay problem of a serial control system is better solved;
(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 compound control requirements of the mechanical arm posture are well met, the wide operation space (+ -40 DEG) design (international space station index is + -22.5 DEG) is realized, and better user experience is achieved.
(7) The on-orbit training function is designed and reserved, and the on-orbit training function is combined with the simulation notebook computer, so that the simulation of tasks to be executed by the space manipulator can be performed, the risk of the tasks is reduced, and the operation efficiency is improved.
Drawings
For a clearer description of embodiments of the invention or of solutions in the prior art, the drawings which are used in the description of the embodiments or of the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an on-orbit operating system of a space manipulator 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 of the present invention;
FIG. 6 is a block diagram of a force feedback handle control unit of the present invention;
in the figure: 1-LCD screen state display bar, 2-LCD screen operation area, 3-alarm lamp window area, 4-operation mode selection area, 5-operation object selection area, 6-end operation area, 7-handle auxiliary operation area, 8-number key area, 9-emergency operation area, 10-LCD screen shortcut key area, 11-LCD screen dynamic display bar, 12-LCD screen display operation area;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
As shown in FIG. 1, the on-orbit operation platform of the space manipulator 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 inputting control instructions of the mechanical arm and displaying various states of the mechanical arm; the force feedback module is electrically connected with the control module and is used for realizing the operation of the single joint of the mechanical arm, the elbow camera holder and the end effector; the control module is mainly used for interaction of data and instructions.
Specifically, the control module is a control module of dual-machine cold backup, and is used for realizing analysis and data management of remote measurement parameters and instructions of the mechanical arm and forwarding processing of data. The operation display module comprises a liquid crystal screen and shortcut keys. The force feedback handle module comprises a translation handle and a rotation handle, wherein: the translation handle adopts a delta mechanism design with three degrees of freedom and is used for realizing front-back, left-right, up-down movement control and compound direction movement control; the rotating handle adopts a three-degree-of-freedom 3-RRR spherical parallel mechanism design and is used for realizing attitude control of pitching, yawing and rotating and rotation control of a composite direction; the force feedback handle module is used as an important man-machine interface between an 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 movement range of the mechanical arm, a proper feedback form can be provided, and an alarm is given in time; the device is provided with a translation handle and a rotation handle, and the position and the gesture of the end effector are respectively controlled correspondingly; the handle feedback moment can realize the proportional superposition of the beneficial resistance of the handle and the terminal contact force/moment. The operation display module and the force feedback handle module respectively interact information with the control module through an internal bus.
The on-orbit operation platform of the space manipulator 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 a professional can obtain all-round information of vision and force sense; meanwhile, when an emergency or unexpected situation 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 on-orbit operation system of a space manipulator of the present invention includes a space station data management platform, a manipulator, and the on-orbit operation platform of the space manipulator of the above embodiment, where: 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 end effector and the central controller respectively carry out information interaction with the space mechanical arm on-orbit operation platform through a special bus of the mechanical arm.
Further, the control module adopts a CPU+FPGA architecture design for: the method comprises the steps of receiving bus instructions sent to the space manipulator on-orbit operation platform from the space station data management platform or the ground remote control, and analyzing, extracting and executing the data; sending an instruction to a special bus of the mechanical arm; and receiving telemetry data of the whole space manipulator, unpacking the data, extracting state information to carry out emergency alarm or feed back to the force feedback handle module, and forwarding the telemetry data to the space station data management platform according to a protocol.
Further, the space manipulator on-orbit operating system further comprises a meter notebook, wherein: the space manipulator on-orbit operation platform is communicated with the instrument notebook computer 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 circuit includes a minimum circuit and a memory chip necessary for the CPU system to work, a memory chip, a system bus control chip for communicating with external devices, a bus control chip special for a mechanical arm, an ethernet control chip, and an internal bus control chip for communicating with other modules inside the control module. The CPU is integrally designed by adopting operating system software and application software and is jointly solidified in a program area. When the equipment is added or restarted, the system software firstly completes hardware initialization, then an operating system software kernel is started, a multi-task environment is created, finally an interface between the operating system software and the application software is utilized to enter an initialization task of the application software, and the application software completes specific functions 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 in terms of hardware, a dual-redundancy cold backup design is adopted. The hardware structure of the dual-computer is completely consistent, and the external interfaces are designed in a merging and isolating way. In the design, a magnetic latching relay is used for receiving a program control on-off instruction from a space station data management system, so that on-off control of double machines is realized. In the aspect of software, a mode of three-taking-two loading and multi-backup starting is adopted, and the capability design supporting on-orbit software maintenance and parameter revision is adopted (the software design thought is also applied to other modules at the same time).
As shown in fig. 3, the control module has the functions of receiving a bus instruction sent to the on-orbit operation system of the mechanical arm from the space station data management system or the ground remote control, analyzing, extracting and executing the data under the coordination of software and hardware; the device has the function of sending instructions to a bus special for the mechanical arm; the system has the functions of receiving telemetry data of the whole space manipulator, unpacking the data, extracting state information for emergency alarm or feeding back to a force feedback handle module, and forwarding the telemetry data to a space station data management system according to a protocol; the system has the function of performing on-orbit training by communicating with the simulation notebook computer through the Ethernet; the system has the function of communicating with other modules in the on-orbit operation system of the mechanical arm through the internal bus; the system has the functions of on-orbit maintenance by self key software and on-orbit maintenance by auxiliary mechanical arm subsystem key software.
Further, the operation display panel of the operation display module includes a liquid crystal display operation area 12, an alarm lamp window area 3, an operation mode selection area 4, an operation object selection area 5, an end operation area 6, a handle auxiliary operation area 7, a number key area 8, an emergency operation area 9, and a liquid crystal display shortcut key area 10, wherein the liquid crystal display operation area 12 is divided into a liquid crystal display status display column 1, a liquid crystal display operation area 2, and a liquid crystal display dynamic display column 11, wherein: 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 the rapid switching of the liquid crystal screen page and the direct sending of the control instruction; the alarm lamp window area 3 is used for alarming the emergency and faults of the system, and the alarm details are displayed and checked through the liquid crystal screen state display column 1; the operation area 12 of the liquid crystal display realizes the operation on the page in a tour mode.
Specifically, the operation display module consists of a shortcut key and a liquid crystal screen. 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 the operation display panel is composed of a liquid crystal display operation area 12, an alarm lamp window area 3, an operation mode selection area 4, an operation object selection area 5, an end operation area 6, a handle auxiliary operation area 7, a number key area 8, an emergency operation area 9 and a liquid crystal display shortcut key area 10, wherein the liquid crystal display operation area 12 is divided into a liquid crystal display status display column 1, a liquid crystal display operation area 2 and a liquid crystal display dynamic display column 11. The rapid switching of important pages in the liquid crystal screen and the direct transmission of control instructions can be realized 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 alarm lamp window area 3 is used for alarming system emergency and faults, and the alarm details can be checked through the liquid crystal screen state display column 1; the operation area 12 of the liquid crystal display can realize the operation of pages in a tour mode. Through the design, the operation display module can realize redundant designs of mechanical keys, soft keys and touch screen operation in an instruction input mode, so that the reliability of operation is improved.
The functional block diagram of the operation display module is shown in fig. 5, and by means of an embedded hardware circuit and matching with software development, the layout design of fig. 4 can be utilized to complete the input of a control instruction of the mechanical arm and the display of various states of the mechanical arm, realize the switching between all working modes and operation modes of the mechanical arm, and have the functions of single joint control, multi-joint coordination control, end effector control, camera and cradle head control, mechanical arm movement stop, mechanical arm emergency stop control and the like. 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 the data interaction of an 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 translation handle and a rotation handle; the handle control unit comprises a data interaction module, a force feedback module, a servo driving module, a joint optical editing processing module, a motor optical editing processing module and a motor power driving module, wherein the data interaction module is used for completing communication port management, state data analysis, state reporting and handle control instruction output; the force feedback module is used for calculating the position/attitude angle of the tail end of the handle by collecting the joint photoelectric angle, and simultaneously calculating the feedback force of the handle and the corresponding motor current and outputting the feedback force and the corresponding motor current to the servo driving module; the servo driving module collects the current angle and phase current of the optical encoder of the motor according to the control current transmitted by the force feedback module, and outputs a driving signal to realize the torque closed-loop control of the motor; the motor power driving module is used for outputting motor power and driving the motor to act.
Specifically, the force feedback handle module adopts a double-handle design, and comprises a translation handle and a rotation handle, and each handle can realize control of three degrees of freedom. The translational handle adopts a delta mechanism design with three degrees of freedom, so that front-back, left-right, up-down movement control and compound direction movement control can be realized, the rotational handle adopts a 3-RRR spherical parallel mechanism design with three degrees of freedom, pitching, yawing and rotating gesture control and compound direction control can be realized, the two handles adopt the same control circuit, and different force feedback algorithms are designed according to the mechanism characteristics, so that the force feedback handle functions of the translational handle are realized. As shown in FIG. 6, a diagram of a handle control unit is provided, which comprises a data interaction module, a force feedback module, a servo driving module, a joint optical editing processing module, a motor optical editing processing module and a motor power driving module. The data interaction module is mainly used for completing communication port management, state data analysis, state reporting and handle control instruction output; the force feedback module is used for calculating the position/attitude angle of the tail end of the handle by collecting the joint photoelectric angle, and simultaneously calculating the feedback force of the handle and the corresponding motor current and outputting the feedback force and the corresponding motor current to the servo driving module; and the servo driving module collects the current angle and phase current of the optical encoder of the motor according to the control current transmitted by the force feedback module, and outputs a driving signal to realize the torque closed-loop control of the motor. The motor power driving module takes a three-phase inverter as a core device and is combined with an overcurrent protection circuit to output motor power and drive the motor to act.
Furthermore, in order to improve reliability of the on-orbit operation system of the space manipulator, redundant designs between devices and inside the devices are performed in aspects of power supply and distribution, device function division and the like. The redundancy measures are mainly as follows: redundant hot backup is adopted for the equipment power supply bus; the data resolving and managing core adopts redundancy design; the input mode of the instruction adopts redundant measures of mechanical key, soft key and touch screen operation.
The space manipulator on-orbit operation platform selects the control module of double-machine cold backup for analyzing and managing remote measuring parameters and instructions of a manipulator subsystem and managing data of related subsystem data. The man-machine interaction between operators and the space manipulator is realized by adopting various means such as vision, touch sense, hearing and the like, so that the movement operation of the manipulator can be more friendly, comfortable and visual. Meanwhile, an analog operation function can be provided, an instruction is sent to the simulation notebook computer through the Ethernet, and the simulation notebook computer is driven to realize the on-orbit training capability of astronauts. The system has the functions of controlling the movement of the mechanical arm and monitoring the state of the mechanical arm, and simultaneously supports the ground remote control and remote operation mode to operate and monitor the mechanical arm.
According to the on-orbit operation system of the space manipulator, the acquisition of personnel instructions, actions and parameters is completed through the input modes of a touch screen or a manual control button of an operation display module, a force feedback handle module and the like, and the integrated analysis and the resolving of a control module are carried out and then sent to the space manipulator by utilizing a special bus of the manipulator, so that the motion control of the space manipulator is completed; meanwhile, the control module collects state information of the space manipulator through a special bus of the manipulator, and closed-loop control, health monitoring and fault alarming of the movement of the space manipulator are completed; 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 system 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 on-orbit operation of the space manipulator, and simultaneously provides an analog operation function for completing on-orbit analog 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 fault isolation degree and the hardware on-orbit replacement capability are high; the mechanical arm has a force feedback function, can better enhance the presence of an operator and improve the operation efficiency of the mechanical arm; in addition, the decoupling and compound control requirements of the gesture of the mechanical arm are well met, and the wide operation space design is realized, so that the mechanical arm has better user experience; in addition, the on-orbit training function is designed and reserved, and the on-orbit training function is combined with the simulation notebook computer, so that the simulation of tasks to be executed by the space manipulator can be performed, the risk of the tasks is reduced, and the operation efficiency is improved.
The invention has been further described with reference to specific embodiments, but it should be understood that the detailed description is not to be construed as limiting the spirit and scope of the invention, but rather as providing those skilled in the art with the benefit of this disclosure with the benefit of their various modifications to the described embodiments.
Claims (3)
1. The utility model provides a space manipulator on-orbit operation system, includes space station data management platform, arm and space manipulator on-orbit operation platform, 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 end effector and the central controller are respectively in information interaction with the space mechanical arm on-orbit operation platform through a special bus of the mechanical arm;
the space manipulator on-orbit operation platform 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 inputting control instructions of the mechanical arm and displaying various states of the mechanical arm;
the control module adopts a CPU+FPGA architecture design for:
the method comprises the steps of receiving bus instructions sent to the space manipulator on-orbit operation platform from the space station data management platform or the ground remote control, and analyzing, extracting and executing the data;
sending an instruction to a special bus of the mechanical arm;
receiving telemetry data of the whole space manipulator, unpacking the data, extracting state information to carry out emergency alarm or feed back to the force feedback handle module, and forwarding the telemetry data to a space station data management platform;
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 cradle head and an end effector;
the control module is mainly used for interaction of data and instructions;
the control module is a control module of double-machine cold backup and is used for realizing analysis and data management of remote measurement parameters and instructions of the mechanical arm and forwarding treatment of data;
the operation display module comprises a liquid crystal screen and shortcut keys;
the operation display panel of the operation display module comprises a liquid crystal display operation area, an alarm lamp window area, an operation mode selection area, an operation object selection area, a tail end operation area, a handle auxiliary operation area, a digital key area, an emergency operation area and a liquid crystal display shortcut key area, 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 the rapid switching of the liquid crystal screen page and the direct sending of the control instruction;
the alarm lamp window area is used for alarming the emergency and faults of the system, and alarm details are displayed and checked through a liquid crystal screen state display column;
the liquid crystal display operation area realizes the operation of pages in a tour mode;
the force feedback handle module comprises a handle mechanism, wherein the handle mechanism comprises a translation handle and a rotation handle, and the force feedback handle module comprises:
the translation handle adopts a delta mechanism design with three degrees of freedom and is used for realizing front-back, left-right, up-down movement control and compound direction movement control;
the rotating handle is designed by adopting 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 of a composite direction;
the translation handle and the rotation handle respectively control the position and the gesture of the end effector correspondingly, and the handle feedback moment can realize the proportional superposition of the beneficial resistance of the handle and the terminal contact force/moment;
the force feedback handle module further comprises a handle control unit for controlling the movement of the handle mechanism, wherein the handle control unit comprises a data interaction module, a force feedback module, a servo driving module, a joint optical editing processing module, a motor optical editing processing module and a motor power driving module;
and the operation display module and the force feedback handle module respectively interact information with the control module through an internal bus.
2. The space manipulator on-orbit operating system of claim 1, further comprising a instrumented notebook, wherein:
the space manipulator on-orbit operation platform is communicated with the instrument notebook computer through the Ethernet and used for on-orbit training.
3. The on-orbit operating system of the space manipulator according to claim 1, wherein the data interaction module is used for completing communication port management, state data analysis, state reporting and handle control instruction output; the force feedback module is used for calculating the position/attitude angle of the tail end of the handle by collecting the joint photoelectric angle, and simultaneously calculating the feedback force of the handle and the corresponding motor current and outputting the feedback force and the corresponding motor current to the servo driving module; the servo driving module collects the current angle and phase current of the optical encoder of the motor according to the control current transmitted by the force feedback module, and outputs a driving signal to realize the torque closed-loop control of the motor; the motor power driving module is used for outputting motor power and driving the motor to act.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911351879.3A CN111113456B (en) | 2019-12-24 | 2019-12-24 | Space manipulator on-orbit operation platform and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911351879.3A CN111113456B (en) | 2019-12-24 | 2019-12-24 | Space manipulator on-orbit operation platform and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111113456A CN111113456A (en) | 2020-05-08 |
| CN111113456B true CN111113456B (en) | 2023-06-27 |
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| CN112589817B (en) * | 2020-11-06 | 2023-04-07 | 兰州空间技术物理研究所 | Operation control method of space manipulator |
| CN112677168B (en) * | 2020-11-18 | 2023-04-07 | 兰州空间技术物理研究所 | Parameter control method for force feedback handle of space manipulator |
| CN112621761B (en) * | 2020-12-24 | 2022-06-24 | 中国科学院重庆绿色智能技术研究院 | Communication time lag-oriented mechanical arm system multi-stage optimization coordination control method |
| CN113664796B (en) * | 2021-08-24 | 2023-04-25 | 江西省智能产业技术创新研究院 | Master-slave arm control system |
| CN114628019A (en) * | 2021-11-16 | 2022-06-14 | 瑞龙诺赋(上海)医疗科技有限公司 | Robot arm replacement system, robot arm replacement method, electronic device, and storage medium |
| CN116476100A (en) * | 2023-06-19 | 2023-07-25 | 兰州空间技术物理研究所 | Remote operation system of multi-branch space robot |
| CN117687418A (en) * | 2024-02-04 | 2024-03-12 | 兰州空间技术物理研究所 | Mobile control method and device based on man-machine interaction, storage medium and terminal |
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