CN113568424B - Space robot pose integrated control method for active rope winding - Google Patents

Space robot pose integrated control method for active rope winding Download PDF

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CN113568424B
CN113568424B CN202110901636.3A CN202110901636A CN113568424B CN 113568424 B CN113568424 B CN 113568424B CN 202110901636 A CN202110901636 A CN 202110901636A CN 113568424 B CN113568424 B CN 113568424B
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robot
rope
target spacecraft
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CN113568424A (en
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张斌斌
张育林
郑明月
向澳
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Zhejiang University ZJU
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Zhejiang University ZJU
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

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Abstract

The invention discloses an integrated control method for the pose of a space robot capable of actively winding ropes. The method is based on a model simplified by the relative motion of rope take-up of the space robot, model errors and disturbance are considered, the change relation of rope take-up speed along with time is designed by combining the position control requirement of the robot, the rotating speed of a rope take-up motor is calculated according to the design speed, and the pulling force generated on the rope is calculated; and calculating the position of an action point required by tension eccentricity based on the moment required by the posture of the robot and the tension of the rope, and calculating the output quantity of the actuating mechanism according to the position change. The invention realizes the position control and the attitude control of the space robot by utilizing the eccentricity of the rope and the pulling force, and can simplify the actuating mechanism for the position movement and the attitude adjustment of the space rope-tied robot due to fully utilizing the pulling force of the rope.

Description

Space robot pose integrated control method for active rope winding
Technical Field
The invention belongs to the field of dynamics and control of space rope-tied robots, and particularly relates to an integrated control method for the pose of a space robot capable of actively winding ropes.
Background
The rope system has unique characteristics and functions in the control of the relative motion of the spacecraft, and in space, the spacecraft flies in orbit by means of the rope connection to complete various preset tasks, so that the rope system is widely researched in the field of aerospace. The rope system has the advantages that the flexibility of the rope is strong, the relative motion of the spacecraft can be restrained, the length can be changed easily, the motion range of the spacecraft connected by the rope system is very wide, the spacecraft connected by the rope system can be well suitable for flying in a large space environment, the flexibility is strong, and the spacecraft connected by the rope system is limited to a certain extent and cannot be out of control completely; secondly, the spacecraft can improve the execution efficiency, reduce the use of sensors and simplify the execution mechanism to a certain extent by controlling the relative motion between the spacecraft in the system through the release/recovery of the tether. In recent years, ropes are increasingly applied to space on-orbit service, the application feasibility is good, functions can be further expanded, novel space tasks including target capture, space debris cleaning and the like can be efficiently and cheaply completed, and the design of space rope robots, space nets and the like is carried forward. In the application of a tether-connected spacecraft or a robot, the important aspect is rope retracting control and attitude control, and the related application of the spatial tether is researched for many years, so that the space tether is improved in theory and practice, a large number of related analysis methods and theories are generated, and support is provided for feasibility analysis, task planning, actual operation and the like.
The control of the space moving body is usually in a mode of separating centroid motion control and attitude motion control, the control mode does not consider the special action of a rope system, and the control mode cannot be directly applied to the motion control of a rope system robot. For a motion control method of a tethered robot, the existing research generally only considers the control of the motion position of the robot, simplifies the robot into mass points, rarely considers the attitude motion under the action of the tensile force of the tether, and does not design the attitude control method.
The disadvantages of the prior art methods are summarized as follows:
1. for realizing the position control of the robot in the space, the existing research mostly takes the tension of a rope as an input design, the tension of the rope is not taken into consideration as the input, the realization difficulty is very high on the design of a control mechanism, and the theoretical research and analysis can obtain the motion characteristics of the robot under the action of the rope but are difficult to guide the engineering design;
2. for realizing the attitude control of the robot in the space, the existing rope winding control design does not consider fully utilizing the tension of the rope, and simultaneously realizes the attitude adjustment of the robot, and the attitude adjustment needs to adopt additional flywheels or engines and other modes, thereby increasing the structural quality of the robot and reducing the economy;
3. for the simultaneous control of the position and the posture of the space robot, the existing control method does not consider the coupling between the position and the posture, only focuses on the design of the control method on one aspect, satisfies the control requirement unilaterally, cannot ensure that the integral control also satisfies the requirement, and does not consider the influence of model errors and disturbance at the same time.
Disclosure of Invention
The invention aims to provide a space robot pose integrated control method for actively winding ropes aiming at the defects of the prior art, which is used for solving the following problems:
1. according to the conversion relation, the recovery rate of the rope is used as a control target, the position movement of the space robot is controlled by directly controlling the rope recovery, and the tension on the rope is used as a calculated amount for attitude control;
2. through the movable tension acting point, the tension acting direction deviates relative to the center of mass of the robot, so that moment is generated, and the posture of the robot is controlled by fully utilizing the tension of the rope;
3. by utilizing the pose integrated control method, the control requirements of the position and the posture are met, and the influence of model deviation and disturbance on the control is also considered.
The purpose of the invention is realized by the following scheme: a space robot pose integrated control method for active rope winding comprises active rope winding control and movement control of the position of a tension action point on a rope;
the active rope retracting control comprises the following steps:
(1) designing the rope retracting speed according to the control requirement of the relative position between the robot and the target spacecraft
Figure BDA0003200102370000021
The change rule along with the time t is designed as follows:
Figure BDA0003200102370000022
rho is the relative distance between the robot and the target spacecraft;
(2) and calculating to obtain the rotating speed n of the rope winding motor according to the relative speed of the robot and the target spacecraft, wherein the calculation formula is as follows:
Figure BDA0003200102370000023
wherein pi is a circumferential rate constant;
Figure BDA0003200102370000024
is the radius of the rope winding wheel; n in calculated units rpm;
(3) calculating to obtain the reference tension of the rope according to the rope retracting speed and the simplified model of the robot space relative motion;
the simplified model of the robot space relative motion is as follows:
Figure BDA0003200102370000025
wherein r is the ground center distance of the target spacecraft, a is the semi-major axis of the target spacecraft orbit, e is the eccentricity of the target spacecraft orbit, k is 1+ ecosf, f is the true near point angle of the target spacecraft,
Figure BDA0003200102370000026
is composed of
Figure BDA0003200102370000027
Theta is the azimuth angle of the robot relative to the target spacecraft, mTAnd mRThe mass of the target spacecraft and the robot are respectively, and T is the tensile force of the rope;
equations 2 and 4 for simplifying the model based on the spatial relative motion of the robot are available:
Figure BDA0003200102370000031
further obtaining the azimuth rate
Figure BDA0003200102370000032
Comprises the following steps:
Figure BDA0003200102370000033
in which the subscript 0 denotes the initial value of the respective quantity;
velocity of azimuth
Figure BDA0003200102370000034
Substituting into formula 3 of simplified model to obtain reference tension T of roperefComprises the following steps:
Figure BDA0003200102370000035
(4) the simplified model error and the environmental disturbance are considered, the PD tracking is adopted for the relative distance, and the tension T actually generated on the rope is calculatedactThe calculation formula is as follows:
Figure BDA0003200102370000036
in the formula t0Is an initial time, pactAnd
Figure BDA0003200102370000037
respectively the actually measured relative distance and the rate of change thereof, and P and D are respectively the proportional and differential coefficients;
the position movement control of the tension action point comprises the following steps:
(1) based on the robot posture adjustment torque requirement and the actual generated pulling force during rope recovery, the position of a pulling force action point at the current moment is calculated, and the calculation formula is as follows:
Figure BDA0003200102370000038
in the formula x0Y and z are three coordinates of the point of application of the tensile force, respectively, and x0My and Mz are fixed values, respectively are moment components required by the posture adjustment of the robot,
Figure BDA0003200102370000039
the attitude angle of the robot relative to the target spacecraft;
(2) the output quantity of the actuating mechanism is calculated through the change of the position of the tension action point, so that the tension of the rope deviates from the center of mass of the robot, the corresponding torque requirement is met, and the posture of the robot is adjusted.
Further, the derivation process of the simplified model of the robot space relative motion is as follows:
only considering the gravity of the earth and the tension of the rope, the absolute motion equation of the target spacecraft and the robot in the inertial coordinate system is as follows:
Figure BDA0003200102370000041
in the formula
Figure BDA0003200102370000042
And
Figure BDA0003200102370000043
position vectors, r, of the target spacecraft and the robot relative to the earth center under an inertial coordinate system, respectivelyRIs the earth center distance of the robot, mu is the gravity constant of the earth,
Figure BDA0003200102370000044
is the position vector of the robot relative to the target spacecraft;
from the relation between relative and absolute motion:
Figure BDA0003200102370000045
in the formula
Figure BDA0003200102370000046
And
Figure BDA0003200102370000047
respectively the velocity and acceleration of the robot relative to the target spacecraft,
Figure BDA0003200102370000048
and
Figure BDA0003200102370000049
respectively angular velocity and angular acceleration of the track coordinate system;
writing the relative position vector as rectangular and polar form
Figure BDA00032001023700000410
The third equal-sign two sides of the above formula can be respectively unfolded as follows:
Figure BDA00032001023700000411
Figure BDA00032001023700000412
in the formula
Figure BDA00032001023700000413
Omega is the angular velocity of the orbit coordinate system;
the differential equation of the relative distance and relative azimuth angle change can be obtained according to the expansion formula:
Figure BDA00032001023700000414
position vector of target spacecraft is expressed in polar coordinate mode
Figure BDA00032001023700000415
The following can be obtained:
Figure BDA00032001023700000416
further obtaining:
Figure BDA0003200102370000051
because the mass of the target spacecraft is obviously greater than the mass of the robot, the influence of the tensile force of the rope on the motion of the target spacecraft can be ignored, and then the orbit of the target spacecraft is a Kepler orbit, so that:
Figure BDA0003200102370000052
obtained from rho/r < 1:
Figure BDA0003200102370000053
therefore, it is
Figure BDA0003200102370000054
For a spacecraft moving around the earth, there is μ/r3≤1.5362×10-6Is true and has r according to the nature of the triangleR-r | ≦ ρ, yielding:
Figure BDA0003200102370000055
the target spacecraft moves on a near-circular orbit, so
Figure BDA0003200102370000056
Remain substantially unchanged, thus
Figure BDA0003200102370000057
From the above analysis, ignoring quantities approximating 0, a simplified model of the spatial relative motion of the robot is obtained as follows:
Figure BDA0003200102370000058
further, the calculation process of the position of the tension acting point at the current moment is as follows:
calculating the tension direction of the rope according to the azimuth angle theta of the robot relative to the target spacecraft
Figure BDA0003200102370000059
Figure BDA00032001023700000510
Converting the direction into a robot coordinate system, wherein a conversion matrix Tr is as follows:
Figure BDA00032001023700000511
from the moment definition, we can:
Figure BDA0003200102370000061
in the formula, Mx, My and Mz are moment components required by robot attitude adjustment respectively;
further calculation yields:
Figure BDA0003200102370000062
the coordinates of y and z are then calculated as follows:
Figure BDA0003200102370000063
the required adjusting torque can not be given at will and needs to be satisfied
Figure BDA0003200102370000064
Furthermore, the executing mechanism of the robot utilizes a mode that a plurality of motors cooperate with pull ropes to change the position of a pull action point, so that the pull force of the ropes deviates from the center of mass of the robot, a moment for adjusting the posture of the robot is generated, and the posture of the robot is adjusted; the length change amount Δ l of the i-th execution motor-controlled ropeiThe calculation formula is as follows:
Figure BDA0003200102370000065
in the formula(yi,zi) Is the coordinate of the ith actuating motor, (y, z) is the coordinate of the point of action of the pulling force, li0For the initial length of the i-th rope for which motor control is performed
The invention has the beneficial effects that:
1. the invention provides an integrated control method for the pose of a space robot capable of actively winding ropes, which can realize that the rope winding speed is directly converted into the rotating speed of a motor for executing rope winding, so that the robot approaches to a target spacecraft in space according to a given speed, and the engineering realizability is strong;
2. the invention realizes the movement of a tension action point, utilizes tension to generate torque, can control and adjust the posture of the robot, limits the action of a rope to change the position of the robot and also can change the posture of the robot;
3. the pose integrated control method provided by the invention considers model errors and environmental disturbance, designs the rope recovery tension, and has certain robustness.
Drawings
FIG. 1 is a block diagram of an integrated control method for the pose of an active rope-retracting space robot.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
The invention realizes the simultaneous control of the attitude and the position of the space robot based on the active rope winding technology.
The invention provides an integrated control method for the pose of a space robot for actively retracting a rope, which comprises two parts, namely active rope retracting control and pulling force action point position moving control, as shown in figure 1, and the specific implementation process of the method is as follows:
the active rope retracting control comprises the following steps:
(1) designing the rope retracting speed according to the control requirement of the relative position between the robot and the target spacecraft
Figure BDA0003200102370000071
The change rule along with the time t is designed as follows:
Figure BDA0003200102370000072
wherein rho is the relative distance between the robot and the target spacecraft.
(2) And calculating to obtain the rotating speed n of the rope winding motor according to the relative speed of the robot and the target spacecraft, wherein the calculation formula is as follows:
Figure BDA0003200102370000073
wherein pi is a circumferential rate constant;
Figure BDA0003200102370000074
is the radius of the rope winding wheel; n in rpm.
(3) Calculating to obtain the reference tension of the rope according to the rope retracting speed and the simplified model of the robot space relative motion;
the derivation process of the simplified model of the robot space relative motion is as follows:
only considering the gravity of the earth and the tension of the rope, the absolute motion equation of the target spacecraft and the robot in the inertial coordinate system is as follows:
Figure BDA0003200102370000075
in the formula
Figure BDA0003200102370000076
And
Figure BDA0003200102370000077
position vectors, r, of the target spacecraft and the robot relative to the earth center under an inertial coordinate system, respectivelyRIs the earth center distance of the robot, mu is the gravitational constant of the earth, mTAnd mRThe mass of the target spacecraft and the robot respectively, T is the tensile force of the rope,
Figure BDA0003200102370000078
is the position vector of the robot relative to the target spacecraft;
from the relation between relative and absolute motion:
Figure BDA0003200102370000079
in the formula
Figure BDA00032001023700000710
And
Figure BDA00032001023700000711
respectively the velocity and acceleration of the robot relative to the target spacecraft,
Figure BDA00032001023700000712
and
Figure BDA00032001023700000713
respectively angular velocity and angular acceleration of the track coordinate system;
writing the relative position vector as rectangular and polar form
Figure BDA00032001023700000714
The third equal-sign two sides of the above formula can be respectively unfolded as follows:
Figure BDA0003200102370000081
Figure BDA0003200102370000082
wherein r is the earth-center distance of the target spacecraft, theta is the azimuth angle of the robot relative to the target spacecraft, f is the true near-point angle of the target spacecraft,
Figure BDA0003200102370000083
omega is the angular velocity of the orbit coordinate system;
the differential equation of the relative distance and relative azimuth angle change can be obtained according to the expansion formula:
Figure BDA0003200102370000084
position vector of target spacecraft is expressed in polar coordinate mode
Figure BDA0003200102370000085
The following can be obtained:
Figure BDA0003200102370000086
further obtaining:
Figure BDA0003200102370000087
because the mass of the target spacecraft is obviously greater than the mass of the robot, the influence of the tensile force of the rope on the motion of the target spacecraft can be ignored, and then the orbit of the target spacecraft is a Kepler orbit, so that:
Figure BDA0003200102370000088
in the formula, a is a semimajor axis of the target spacecraft orbit, e is the eccentricity of the target spacecraft orbit, and k is 1+ ecosf;
obtained from rho/r < 1:
Figure BDA0003200102370000089
therefore, it is
Figure BDA00032001023700000810
For a spacecraft moving around the earth, there is μ/r3≤1.5362×10-6Is true and has r according to the nature of the triangleR-r | ≦ ρ, yielding:
Figure BDA0003200102370000091
the target spacecraft moves on a near-circular orbit, so
Figure BDA0003200102370000092
Remain substantially unchanged, thus
Figure BDA0003200102370000093
From the above analysis, ignoring quantities approximating 0, a simplified model of the spatial relative motion of the robot is obtained as follows:
Figure BDA0003200102370000094
equations 2 and 4 for simplifying the model based on the spatial relative motion of the robot are available:
Figure BDA0003200102370000095
further obtaining the azimuth rate
Figure BDA0003200102370000096
Comprises the following steps:
Figure BDA0003200102370000097
in which the subscript 0 denotes the initial value of the respective quantity;
velocity of azimuth
Figure BDA0003200102370000098
Substituting into formula 3 of simplified model to obtain reference tension T of roperefComprises the following steps:
Figure BDA0003200102370000099
(4) consider the sum of simplified model errorsEnvironmental disturbance, adopting PD to track the relative distance, calculating to obtain the actual generated tension T on the ropeactThe calculation formula is as follows:
Figure BDA00032001023700000910
in the formula t0Is an initial time, pactAnd
Figure BDA00032001023700000911
respectively the actual measured relative distance and its rate of change, P and D are respectively the proportional and differential coefficients.
Secondly, the position of the tension action point is controlled in a moving way, and the method comprises the following steps:
(1) based on the robot posture adjustment torque requirement and the pulling force actually generated during rope recovery, the position of a pulling force action point at the current moment is calculated, and the calculation process is as follows:
calculating the tension direction of the rope according to the azimuth angle theta of the robot relative to the target spacecraft
Figure BDA00032001023700000912
Figure BDA0003200102370000101
Converting the direction into a robot coordinate system, wherein a conversion matrix Tr is as follows:
Figure BDA0003200102370000102
from the moment definition, we can:
Figure BDA0003200102370000103
in the formula x0Y and z are three coordinates of the point of application of the tensile force, respectively, and x0Is a fixed value, Mx, My and Mz are moment components required by robot attitude adjustment respectively;
further calculation yields:
Figure BDA0003200102370000104
the coordinates of y and z are then calculated as follows:
Figure BDA0003200102370000105
the required adjusting torque can not be given at will and needs to be satisfied
Figure BDA0003200102370000106
(2) The output quantity of the actuating mechanism is calculated through the change of the position of the tension action point, so that the tension of the rope deviates from the center of mass of the robot, the corresponding torque requirement is met, and the posture of the robot is adjusted.
In one embodiment, the executing mechanism of the robot utilizes a mode that a plurality of motors cooperate with a pull rope to change the position of a pull force action point, so that the pull force of the pull rope deviates from the center of mass of the robot, a moment for adjusting the posture of the robot is generated, and the posture of the robot is adjusted; the length change amount Δ l of the i-th execution motor-controlled ropeiThe calculation formula is as follows:
Figure BDA0003200102370000107
in the formula (y)i,zi) Is the coordinate of the ith actuating motor, (y, z) is the coordinate of the point of action of the pulling force, li0The initial length of the motor-controlled rope is performed for the ith.
The above are merely embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement and the like, which are not made by the inventive work, are included in the scope of protection of the present invention within the spirit and principle of the present invention.

Claims (4)

1. A space robot pose integrated control method for active rope winding is characterized by comprising active rope winding control and movement control of the position of a tension action point on a rope;
the active rope retracting control comprises the following steps:
(1) designing the rope retracting speed according to the control requirement of the relative position between the robot and the target spacecraft
Figure FDA0003438165020000011
The change rule along with the time t is designed as follows:
Figure FDA0003438165020000012
rho is the relative distance between the robot and the target spacecraft;
(2) and calculating to obtain the rotating speed n of the rope winding motor according to the relative speed of the robot and the target spacecraft, wherein the calculation formula is as follows:
Figure FDA0003438165020000013
wherein pi is a circumferential rate constant;
Figure FDA0003438165020000014
is the radius of the rope winding wheel; n in calculated units rpm;
(3) calculating to obtain the reference tension of the rope according to the rope retracting speed and the simplified model of the robot space relative motion;
the simplified model of the robot space relative motion is as follows:
Figure FDA0003438165020000015
wherein r is the geocentric distance of the target spacecraft,a is a semi-major axis of the target spacecraft orbit, e is the eccentricity of the target spacecraft orbit, k is 1+ ecosf, f is the true near point angle of the target spacecraft,
Figure FDA0003438165020000016
is composed of
Figure FDA0003438165020000017
Theta is the azimuth angle of the robot relative to the target spacecraft, mTAnd mRThe mass of the target spacecraft and the robot are respectively, and T is the tensile force of the rope;
the model is simplified according to the relative motion of the robot space, and the following results are obtained:
Figure FDA0003438165020000018
further obtaining the azimuth rate
Figure FDA0003438165020000019
Comprises the following steps:
Figure FDA00034381650200000110
in which the subscript 0 denotes the initial value of the respective quantity;
velocity of azimuth
Figure FDA0003438165020000021
Substituting into the simplified model of the relative motion of the robot space to obtain the reference tension T of the roperefComprises the following steps:
Figure FDA0003438165020000022
(4) model errors and environmental disturbance are simplified by considering the space relative motion of the robot, PD tracking is adopted for relative distance, and the actual generated distance on the rope is calculatedTension TactThe calculation formula is as follows:
Figure FDA0003438165020000023
in the formula t0Is an initial time, pactAnd
Figure FDA0003438165020000024
respectively the actually measured relative distance and the rate of change thereof, and P and D are respectively the proportional and differential coefficients;
the position movement control of the tension action point comprises the following steps:
(1) based on the robot posture adjustment torque requirement and the actual generated pulling force during rope recovery, the position of a pulling force action point at the current moment is calculated, and the calculation formula is as follows:
Figure FDA0003438165020000025
in the formula x0Y and z are three coordinates of the point of application of the tensile force, respectively, and x0My and Mz are fixed values, respectively are moment components required by the posture adjustment of the robot,
Figure FDA0003438165020000026
the attitude angle of the robot relative to the target spacecraft;
(2) the output quantity of the actuating mechanism is calculated through the change of the position of the tension action point, so that the tension of the rope deviates from the center of mass of the robot, the corresponding torque requirement is met, and the posture of the robot is adjusted.
2. The integrated control method for the pose of the space robot with the active rope reeling function according to claim 1, wherein the derivation process of the simplified model of the space relative motion of the robot is as follows:
only considering the gravity of the earth and the tension of the rope, the absolute motion equation of the target spacecraft and the robot in the inertial coordinate system is as follows:
Figure FDA0003438165020000027
in the formula
Figure FDA0003438165020000028
And
Figure FDA0003438165020000029
position vectors, r, of the target spacecraft and the robot relative to the earth center under an inertial coordinate system, respectivelyRIs the earth center distance of the robot, mu is the gravity constant of the earth,
Figure FDA00034381650200000210
is the position vector of the robot relative to the target spacecraft;
from the relation between relative and absolute motion:
Figure FDA00034381650200000211
in the formula
Figure FDA0003438165020000031
And
Figure FDA0003438165020000032
respectively the velocity and acceleration of the robot relative to the target spacecraft,
Figure FDA0003438165020000033
and
Figure FDA0003438165020000034
respectively angular velocity and angular acceleration of the track coordinate system;
writing the relative position vector as rectangular coordinates and as a poleForm of co-ordinates
Figure FDA0003438165020000035
The third equal-sign two sides of the formula (1) can be respectively unfolded as follows:
Figure FDA0003438165020000036
Figure FDA0003438165020000037
in the formula
Figure FDA0003438165020000038
Omega is the angular velocity of the orbit coordinate system;
the differential equation of the relative distance and relative azimuth angle change can be obtained according to the expansion formula:
Figure FDA0003438165020000039
position vector of target spacecraft is expressed in polar coordinate mode
Figure FDA00034381650200000313
The following can be obtained:
Figure FDA00034381650200000310
further obtaining:
Figure FDA00034381650200000311
because the mass of the target spacecraft is obviously greater than the mass of the robot, the influence of the tensile force of the rope on the motion of the target spacecraft can be ignored, and then the orbit of the target spacecraft is a Kepler orbit, so that:
Figure FDA00034381650200000312
obtained from rho/r < 1:
Figure FDA0003438165020000041
therefore, it is
Figure FDA0003438165020000042
For a spacecraft moving around the earth, there is μ/r3≤1.5362×10-6Is true and has r according to the nature of the triangleR-r | ≦ ρ, yielding:
Figure FDA0003438165020000043
the target spacecraft moves on a near-circular orbit, so f is basically kept unchanged, and then
Figure FDA0003438165020000044
From the above analysis, ignoring quantities approximating 0, a simplified model of the spatial relative motion of the robot is obtained as follows:
Figure FDA0003438165020000045
3. the integrated control method for the pose of the space robot with the active rope reeling function according to claim 1, wherein the calculation process of the position of the tension acting point at the current moment is as follows:
calculating the tension direction of the rope according to the azimuth angle theta of the robot relative to the target spacecraft
Figure FDA0003438165020000046
Figure FDA0003438165020000047
Converting the direction into a robot coordinate system, wherein a conversion matrix Tr is as follows:
Figure FDA0003438165020000048
from the moment definition, we can:
Figure FDA0003438165020000049
in the formula, Mx, My and Mz are moment components required by robot attitude adjustment respectively;
further calculation yields:
Figure FDA00034381650200000410
the coordinates of y and z are then calculated as follows:
Figure FDA0003438165020000051
the required adjusting torque can not be given at will and needs to be satisfied
Figure FDA0003438165020000052
4. The integrated control method for the pose of the space robot with the active rope retracting function according to claim 1, wherein an executing mechanism of the robot utilizes a mode that a plurality of motors cooperate with a pulling rope to change the position of a pulling force action point, so that the pulling force of the rope deviates from the center of mass of the robot, a moment for adjusting the pose of the robot is generated, and the pose of the robot is adjusted; variation of length of i-th rope controlled by actuating motorChemical quantity delta liThe calculation formula is as follows:
Figure FDA0003438165020000053
in the formula (y)i,zi) Is the coordinate of the ith actuating motor, (y, z) is the coordinate of the point of action of the pulling force, li0The initial length of the motor-controlled rope is performed for the ith.
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