CN114683285A - Rapid space robot simulation modeling method and system - Google Patents
Rapid space robot simulation modeling method and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention relates to a rapid space robot simulation modeling method which takes a joint angle, a joint angular velocity, a joint angular acceleration and a flywheel control torque of a mechanical arm as input, circularly solves a kinematics model of the mechanical arm, a space robot centroid kinematics model, a mechanical arm installation kinematics model, a reverse dynamics model of the mechanical arm and a base forward attitude dynamics model according to a preset time step, and solves to obtain a dynamics simulation data sequence of a base and the mechanical arm of a space robot. The invention carries out modular modeling on the dynamics of the base and the mechanical arm of the space robot, researchers can independently develop the simulation modules of the base and the mechanical arm, and then the forward and inverse dynamics mixing method and the space compound kinematics method are utilized to carry out module association calculation. The characteristics are beneficial to researchers to quickly and efficiently realize the simulation modeling of the space robot.
Description
Technical Field
The invention belongs to the technical field of on-orbit service and maintenance of a spacecraft, and relates to a modularized rapid space robot simulation modeling method.
Background
In-orbit service and maintenance are one of leading-edge hot spots of the aerospace technology, and service operations such as close-range observation, fuel filling, auxiliary orbital transfer, module replacement, part maintenance and the like are performed after a space target approaches by a service aircraft, so that in-orbit fault recovery and service life extension of a target satellite can be realized, in-orbit application value is continuously exerted, and great economic benefits are generated.
The space robot satellite with a mechanical arm is the most direct method for performing close-range service operation on a target satellite, particularly performing fine operation tasks such as module replacement and component maintenance. The dynamic simulation modeling of the space robot is indispensable work for analyzing the close-range operation task of the on-orbit service aircraft and designing a scheme. The existing space robot dynamics simulation modeling is realized on the basis of multi-body dynamics software. Most of the software is commercial software, and some of the software is open source software, but the software has the following defects: the software has large scale, complex algorithm, poor modularity and poor code autonomous controllability, and is complex to process with a self-developed control program interface, thereby relating to a large amount of debugging work.
At present, no published literature report and patent which are the same as the modeling method for the modularized rapid space robot simulation proposed by the patent exist at home and abroad.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method and the system support researchers to efficiently and autonomously controllably realize the dynamic simulation modeling development of the space robot, and meet the requirements of on-orbit service aircraft on close-range operation task analysis and scheme design.
The technical scheme of the invention is as follows: a rapid space robot simulation modeling method takes a joint angle, a joint angular velocity, a joint angular acceleration and a flywheel control torque of a mechanical arm as input, a kinematics model of the mechanical arm, a space robot centroid kinematics model, a mechanical arm installation kinematics model, a reverse dynamics model of the mechanical arm and a base forward attitude dynamics model are solved according to a preset time step in a circulating manner, and a dynamics simulation data sequence of a base and the mechanical arm of a space robot is obtained through solving; wherein
The kinematic model of the mechanical arm takes the joint angle and the joint angular velocity of the mechanical arm as input, and calculates the position, the velocity and the acceleration of each arm rod of the mechanical arm relative to a mechanical arm installation coordinate system;
the space robot mass center kinematic model takes the position, the speed and the acceleration of each arm lever relative to a mechanical arm installation coordinate system as input, and calculates the position, the speed and the acceleration of the space robot mass center relative to a base mass center body system;
a mechanical arm installation kinematic model is used for solving the motion of a mechanical arm installation coordinate system under a space robot centroid coordinate system;
the mechanical arm reverse dynamic model is characterized in that the angular velocity and the angular acceleration of a base relative to a mass center coordinate system of the space robot, the external force applied to the base, the external force couple moment applied to each arm lever, the external force applied to each arm lever and the force arm vector of the external force applied to each arm lever relative to the mass center of each arm lever are used as input, the angular velocity and the angular acceleration of each arm lever relative to the mass center coordinate system of the space robot are calculated, and the velocity, the acceleration, the joint moment and the reaction moment of the mechanical arm to the base under the mass center coordinate system of the space robot are calculated.
The base forward attitude dynamics model takes flywheel control moment and reaction moment of a mechanical arm to a base as input, and calculates the angular velocity and the angular acceleration of the base relative to a space robot centroid coordinate system.
Preferably, the acceleration of each arm of the robot arm with respect to the robot arm mounting coordinate system is calculated by:
calculating the relative motion angular velocity and angular acceleration of each arm rod relative to the inscribed arm rod according to the joint angle and the joint angular velocity of the mechanical arm;
calculating the angular velocity of each arm lever relative to the mechanical arm installation coordinate system by using the calculated relative motion angular velocity of each arm lever relative to the inscribed arm lever;
calculating the angular acceleration of each arm lever relative to the mechanical arm installation coordinate system by utilizing the angular velocity of each arm lever relative to the mechanical arm installation coordinate system and the relative motion angular velocity and the angular acceleration of each arm lever relative to the inner arm lever;
and calculating the acceleration of the mass center of each arm lever in the installation coordinate system of the mechanical arm according to the angular acceleration of each arm lever relative to the installation coordinate system of the mechanical arm, the position of the mass center of each arm lever under the installation coordinate system of the mechanical arm and the angular velocity of each arm lever relative to the installation coordinate system of the mechanical arm.
Preferably, the robot arm mounting kinematic model takes the position, the speed and the acceleration of the space robot centroid coordinate system relative to the base centroid body system and the angular speed and the angular acceleration of the base relative to the space robot centroid coordinate system as input, and calculates the position, the speed and the acceleration of the robot arm mounting coordinate system under the space robot centroid coordinate system.
Preferably, the angular velocity and the angular acceleration of the base relative to the coordinate system of the mass center of the space robot are calculated by the dynamic model of the forward attitude of the base in the last cycle.
Preferably, the speed of each arm lever centroid under the centroid coordinate system of the space robot is calculated by the following method:
calculating the angular velocity of each arm lever relative to the centroid coordinate system of the space robot according to the angular velocity of the base relative to the centroid coordinate system of the space robot and the relative motion angular velocity of each arm lever relative to the inscribed arm lever;
calculating the angular acceleration of each arm lever relative to the mass center coordinate system of the space robot according to the angular velocity and the angular acceleration of the base relative to the mass center coordinate system of the space robot and the relative motion angular velocity and the angular acceleration of each arm lever relative to the inner arm lever;
and calculating the speed of the mass center of each arm lever in the mass center coordinate system of the space robot according to the angular speed of the base relative to the mass center coordinate system of the space robot, the position of the mass center of each arm lever relative to the inscribed joint of each arm lever and the angular speed of each arm lever relative to the mass center coordinate system of the space robot.
Preferably, each joint moment is calculated by:
calculating the constraint force of each arm lever by considering the combined external force borne by the arm lever, the inertial force caused by the external force borne by the arm lever and the inertial force caused by the external force borne by the base;
calculating the constraint moment of each arm lever by utilizing the constraint force of each arm lever and considering the combined external moment of couple of each arm lever;
and calculating the moment of each joint according to the constraint moment of each arm lever and the rotation unit direction vector of each joint.
Preferably, the calculation process of the restraining force of each arm lever and the restraining moment of each arm lever is from the external arm lever to the internal arm lever, the opposite number of the restraining force of the external arm lever obtained through calculation is used as the external force of the internal arm lever, and the opposite number of the restraining moment of the external arm lever is used as the external moment of the internal arm lever.
A rapid space robot simulation modeling system includes:
the system comprises a first module, a second module and a third module, wherein the first module is used for constructing a kinematic model of the mechanical arm, calculating the position, the speed and the acceleration of each arm rod of the mechanical arm relative to a mechanical arm installation coordinate system in each period by taking a joint angle and a joint angular velocity of the mechanical arm as input, and inputting a calculation result to the second module;
the second module is used for constructing a centroid kinematic model of the space robot, taking the position, the speed and the acceleration of each arm rod relative to a mechanical arm installation coordinate system as input, calculating the position, the speed and the acceleration of the centroid of the space robot relative to the base centroid body system in each period, and inputting the calculation result to the third module;
a third module, wherein a mechanical arm installation kinematic model is constructed in the third module, and motion of the mechanical arm installation coordinate system in the centroid coordinate system of the space robot is solved in each period according to the output structure of the second module and the angular velocity and the angular acceleration of the base output by the fifth module in one period relative to the centroid coordinate system of the space robot;
the fourth module is used for constructing a mechanical arm reverse dynamic model, and taking the joint angle, the joint angular velocity and the joint angular acceleration of a mechanical arm, the angular velocity and the angular acceleration of a base output in a period on the fifth module relative to a mass center coordinate system of the space robot, the external force applied to the base, the external moment couple applied to each arm rod, the external force applied to each arm rod and the force arm vector of the external force applied to each arm rod relative to the mass center of the arm rod as input, calculating the angular velocity and the angular acceleration of each arm rod relative to the mass center coordinate system of the space robot in each period, and calculating the velocity, the acceleration, the joint moment and the reaction moment of each arm rod mass center under the mass center coordinate system of the space robot; outputting the reaction torque of the mechanical arm to the base to a fifth module;
and a fifth module, wherein a base forward attitude dynamic model is constructed in the fifth module, and the angular velocity and the angular acceleration of the base relative to a space robot centroid coordinate system are calculated in each period by taking a flywheel control moment and a reaction moment of the mechanical arm to the base as input.
Preferably, each joint moment is calculated by:
calculating the constraint force of each arm lever by considering the combined external force borne by the arm lever, the inertial force caused by the external force borne by the arm lever and the inertial force caused by the external force borne by the base;
calculating the constraint moment of each arm lever by utilizing the constraint force of each arm lever and considering the combined external moment of couple of each arm lever;
and calculating the moment of each joint according to the constraint moment of each arm lever and the rotation unit direction vector of each joint.
Preferably, the calculation process of the restraining force of each arm lever and the restraining moment of each arm lever is from the external arm lever to the internal arm lever, the opposite number of the restraining force of the external arm lever obtained through calculation is used as the external force of the internal arm lever, and the opposite number of the restraining moment of the external arm lever is used as the external moment of the internal arm lever.
Compared with the prior art, the invention has the beneficial effects that:
therefore, the invention provides a modularized rapid space robot simulation modeling method from a practical angle, and the simulation effect equivalent to that of multi-body dynamics software is achieved by utilizing the forward and inverse dynamics hybrid modeling and the space compound kinematics solving of a space robot base and a mechanical arm.
(1) The invention can modularly and quickly realize the simulation modeling of the space robot
The invention carries out modular modeling on the dynamics of the base and the mechanical arm of the space robot, researchers can independently develop the simulation modules of the base and the mechanical arm, and then the forward and inverse dynamics mixing method and the space compound kinematics method are utilized to carry out module association calculation. The characteristics are beneficial to researchers to quickly and efficiently realize the simulation modeling of the space robot.
(2) The invention can realize the simulation modeling of the space robot in a modular autonomous controllable manner
According to the simulation modeling method and the specific steps provided by the invention, researchers can select development languages and development environments by themselves to realize the development of the space robot simulation modeling algorithm program, the program codes are completely independently controllable, the problem of 'black box' of commercial software is avoided, and the problems of open source software environment compatibility and interface matching are also reduced.
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FIG. 1 is a flow chart of the simulation modeling of the modularized rapid space robot of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The process for realizing the simulation modeling of the space robot comprises the following steps:
(1) and establishing a kinematic model of the mechanical arm. Inputting the model into the joint angle q of the mechanical armjAngular velocity of joint
And angular acceleration of joint
(subscript j denotes jth arm) and outputs as an arm mounting coordinate system of each arm of the robot with respect to the robot(m is) position rmjSpeed, velocity
And acceleration
(see FIG. 1).
(1.1) calculating the relative movement angular velocity omega of each arm rod relative to the inscribed arm rodjAnd angular acceleration
The calculation formulas are respectively
And
in the formula IjA unit direction vector for each joint rotation;
(1.2) calculating the angular speed omega of each arm rod relative to the mechanical arm installation coordinate system (m system)mjThe formula is omegamj＝Ω1+Ω2+…+Ωj；
(1.3) calculating the angular acceleration of each arm lever relative to a mechanical arm installation coordinate system (m system)
Is given by the formula
(1.4) calculating the position r of the mass center of each arm lever under the mechanical arm installation systemmj is the formula
rmj＝dm1+d12+d23+…+dj-2,j-1+djj，
In the formula dm1Is the mounting position of the joint 1, dj-2,j-1The position of the joint j-1 relative to its internal joint is determined by the joint angle qjDetermination of djjIs the mass center of arm jThe position relative to its inscribed joint j;
(1.5) calculating the speed of the mass center of each arm lever under the installation coordinate system (m system) of the mechanical arm
Is given by the formula
(1.6) calculating the acceleration of the mass center of each arm lever under the mechanical arm installation coordinate system (m system)
Is given by the formula
(2) And establishing a system centroid kinematics model. The model input is the position r of each arm lever relative to the mechanical arm installation coordinate system (m system) calculated in the step (1)mjSpeed, velocity
And acceleration
The output is the position r of the system center of mass (G) relative to the system (b) of the base center of massbGSpeed of the motor
And acceleration
(see FIG. 1). Is calculated by the formula
In the formula, mTM is the total mass of the systemjFor the mass of each arm of the arm, rbmIs the mounting position of the robot arm under the system (system b) in the center of mass of the susceptor.
(3) And establishing a mechanical arm installation kinematics model. The model solves the motion of the mechanical arm installation coordinate system (m system) under the system center of mass system (G system). The model input is the position r of the system center of mass (G) relative to the system (b) of the base center of mass calculated in the step (2)bGSpeed, velocity
And acceleration
And the angular velocity ω of the base relative to the system's system of mass (G system)biAnd angular acceleration
ωbiAnd
calculating the model in the step (5) in the previous period; the model output is the position r of the mechanical arm installation coordinate system (m system) under the system center of mass system (G system)GmSpeed of the motor
And acceleration
(see FIG. 1).
(3.1) calculating the position r of the system of mass centers of the susceptor (system b) under the system of mass centers (system G)GbSpeed of
And acceleration
Is calculated by the formula
rGb＝-rbG
(3.2) calculating the position r of the mechanical arm installation coordinate system (m system) under the system center of mass system (G system)GmSpeed, velocity
And acceleration
The calculation formula is as follows:
rGm＝rGb+rbm
(4) and establishing a reverse dynamic model of the mechanical arm. The input of the model is the joint angle q of the mechanical armjAngular velocity of joint
And angular acceleration of joint
Base relative systemAngular velocity ω of center of mass system (G system)biAnd angular acceleration
ωbiAnd
the model calculation of the step (5) in the previous period is used for obtaining the external force F borne by the basebThe external moment of couple M borne by each armgjExternal force F applied to each armgjAnd force arm vector r of external force applied to each arm lever relative to the mass center of the arm levergj. The output of the model is the angular velocity ω of each arm relative to the system's system of mass center (G series)jAngular acceleration
Speed of each arm lever mass center under system mass center system (G system)
Acceleration of a vehicle
Moment M of each jointcjAnd the moment T of reaction of the arm on the baseMR(see FIG. 1).
(4.1) calculating the angular velocity ω of each arm with respect to the system's centroid system (G system)jIs of the formula
ωj＝ωbi+Ω1+Ω2+…+Ωj
(4.2) calculating the angular acceleration of each arm relative to the system's centre of mass (G system)
Is given by the formula
(4.3) calculating the speed of each arm lever centroid under the system centroid system (G system)
Is given by the formula
In the formula (I), the compound is shown in the specification,
calculated in step (3.2) to obtain ωjCalculated in step (4.1).
(4.4) calculating the acceleration of each arm lever centroid under the system centroid system (G system)
Is given by the formula
In the formula (I), the compound is shown in the specification,
calculated in step (3.2), ωjCalculated by the step (4.1),
calculated in step (4.2).
(4.5) calculating the restraining force F of each arm leverhjThe calculation formula is
In the formula
The system center of mass system (G system) is a non-inertial system when the acceleration of the center of mass of the system exists, the third term on the right side of the upper formula represents the inertial force caused by the external force applied to the arm lever, and the fourth term represents the external force applied to the baseThe inertial force of (c); the calculation process is that the external arm lever is calculated from the external arm lever to the internal arm lever, and the opposite number-F of the restraint force of the external arm lever is obtained through calculationhjExternal force F to be applied to the inner link armgj-1。
(4.6) calculating the binding force couple moment M of each arm leverhjThe calculation formula is
In the formula IjIs the moment of inertia of the arm j,
the moment of external couple, r, received by the arm jgjExternal force F applied to arm jgjA moment arm vector relative to a center of mass of the arm; the calculation process is that the external arm lever is calculated from the external arm lever to the internal arm lever, and the opposite number-F of the restraint force of the external arm lever is obtained through calculationhjExternal force F to be applied to the inner link armgj-1The opposite number of the constraint couple moment of the external arm lever is-MhjExternal couple moment M to be used as its internal connecting armgj-1。
(4.7) calculating the moment M of each jointcjThe calculation formula is Mcj＝Mhj·lj。
(4.8) calculating the reaction moment T of the mechanical arm to the baseMRIs of the formula
TMR＝-dm1×Fh1-Mh1
In the formula Fh1The constraint force to which the joint 1 is subjected, Mh1The constraint moment of couple borne by the joint 1.
(5) And establishing a base forward attitude dynamic model. The input of the model is flywheel control torque TwAnd reaction torque T of mechanical arm to baseMR. The output is the angular velocity ω of the base relative to the system's system of mass (G system)biAnd angular acceleration
(see FIG. 1). The base forward attitude dynamics model formula is as follows:
where I is the base including the moment of inertia, T, that "freezes" the flywheelgFor moment compensation of flywheel gyros, Tg＝-ωbi×(Iwωw)，IwIs the moment of inertia of the flywheel, omegawIs the angular velocity of the flywheel relative to the base. Integral solution is carried out on the model formula to obtain
And omegabiThe value is obtained.
(6) By joint angle q of the armj、
And
controlling moment T with flywheelwAnd (3) circularly resolving the models (see the figure 1) in the steps (1) to (5) according to a certain time step for input, and resolving to obtain a dynamic simulation data sequence of the space robot base and the mechanical arm.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
The invention has not been described in detail in part in the common general knowledge of a person skilled in the art.
Claims (10)
1. A rapid space robot simulation modeling method is characterized in that: taking a joint angle, a joint angular velocity, a joint angular acceleration and a flywheel control torque of the mechanical arm as input, circularly resolving a kinematics model of the mechanical arm, a space robot centroid kinematics model, a mechanical arm installation kinematics model, a reverse dynamics model of the mechanical arm and a base forward attitude dynamics model according to a preset time step, and resolving to obtain a dynamics simulation data sequence of a base and the mechanical arm of the space robot; wherein
The kinematic model of the mechanical arm takes the joint angle and the joint angular velocity of the mechanical arm as input, and calculates the position, the velocity and the acceleration of each arm lever of the mechanical arm relative to a mechanical arm installation coordinate system;
the space robot mass center kinematic model takes the position, the speed and the acceleration of each arm lever relative to a mechanical arm installation coordinate system as input, and calculates the position, the speed and the acceleration of the space robot mass center relative to a base mass center body system;
a mechanical arm installation kinematic model is used for solving the position, the speed and the acceleration of a mechanical arm installation coordinate system under a space robot centroid coordinate system;
the mechanical arm reverse dynamic model is characterized in that the angular velocity and the angular acceleration of a joint angle, a joint angular velocity and a joint angular acceleration of a mechanical arm, the angular velocity and the angular acceleration of a base relative to a space robot mass center coordinate system, external force applied to the base, external force applied to each arm rod, and force arm vectors of the external force applied to each arm rod relative to the mass center of the arm rod are used as input, the angular velocity and the angular acceleration of each arm rod relative to the space robot mass center coordinate system, the velocity and the acceleration of each arm rod mass center under the space robot mass center coordinate system, each joint moment and the reaction moment of the mechanical arm to the base are calculated.
The base forward attitude dynamics model takes flywheel control moment and reaction moment of a mechanical arm to a base as input, and calculates the angular velocity and the angular acceleration of the base relative to a space robot centroid coordinate system.
2. The method of claim 1, wherein: and the mechanical arm installation kinematic model takes the position, the speed and the acceleration of the space robot centroid coordinate system relative to the base centroid body system and the angular speed and the angular acceleration of the base relative to the space robot centroid coordinate system as input, and calculates the position, the speed and the acceleration of the mechanical arm installation coordinate system under the space robot centroid coordinate system.
3. The method of claim 2, wherein: the angular velocity and the angular acceleration of the base relative to the centroid coordinate system of the space robot are calculated by the base forward attitude dynamic model in the last cycle.
4. The method of claim 1, wherein: and calculating the speed of the mass center of each arm lever under the mass center coordinate system of the space robot by the following method:
calculating the angular velocity of each arm lever relative to the centroid coordinate system of the space robot according to the angular velocity of the base relative to the centroid coordinate system of the space robot and the relative motion angular velocity of each arm lever relative to the inscribed arm lever;
calculating the angular acceleration of each arm lever relative to the mass center coordinate system of the space robot according to the angular velocity and the angular acceleration of the base relative to the mass center coordinate system of the space robot and the relative motion angular velocity and the angular acceleration of each arm lever relative to the inner arm lever;
and calculating the speed of the mass center of each arm lever in the mass center coordinate system of the space robot according to the angular speed of the base relative to the mass center coordinate system of the space robot, the position of the mass center of each arm lever relative to the inscribed joint of each arm lever and the angular speed of each arm lever relative to the mass center coordinate system of the space robot.
5. The method of claim 1, wherein: calculating each joint moment by:
calculating the constraint force of each arm lever by considering the combined external force borne by the arm lever, the inertial force caused by the external force borne by the arm lever and the inertial force caused by the external force borne by the base;
calculating the constraint moment of each arm lever by utilizing the constraint force of each arm lever and considering the combined external moment of couple of each arm lever;
and calculating the moment of each joint according to the constraint moment of each arm lever and the rotation unit direction vector of each joint.
6. The method of claim 5, wherein: the calculation process of the restraint force of each arm lever and the restraint moment of each arm lever is that the restraint force of each external arm lever is calculated from the external arm lever to the internal arm lever, the counter number of the restraint force of the external arm lever obtained through calculation is used as the external force of the internal arm lever, and the counter number of the restraint moment of the external arm lever is used as the external moment of the internal arm lever.
7. A rapid space robot simulation modeling system is characterized by comprising:
the system comprises a first module, a second module and a third module, wherein the first module is used for constructing a kinematic model of the mechanical arm, calculating the position, the speed and the acceleration of each arm rod of the mechanical arm relative to a mechanical arm installation coordinate system in each period by taking a joint angle and a joint angular velocity of the mechanical arm as input, and inputting a calculation result to the second module;
the second module is used for constructing a centroid kinematic model of the space robot, taking the position, the speed and the acceleration of each arm rod relative to a mechanical arm installation coordinate system as input, calculating the position, the speed and the acceleration of the centroid of the space robot relative to the base centroid body system in each period, and inputting the calculation result to the third module;
a third module, wherein a mechanical arm installation kinematic model is constructed in the third module, and motion of the mechanical arm installation coordinate system in the centroid coordinate system of the space robot is solved in each period according to the output structure of the second module and the angular velocity and the angular acceleration of the base output by the fifth module in one period relative to the centroid coordinate system of the space robot;
the fourth module is used for constructing a mechanical arm reverse dynamic model, and taking the joint angle, the joint angular velocity and the joint angular acceleration of a mechanical arm, the angular velocity and the angular acceleration of a base output in a period on the fifth module relative to a mass center coordinate system of the space robot, the external force applied to the base, the external moment couple applied to each arm rod, the external force applied to each arm rod and the force arm vector of the external force applied to each arm rod relative to the mass center of the arm rod as input, calculating the angular velocity and the angular acceleration of each arm rod relative to the mass center coordinate system of the space robot in each period, and calculating the velocity, the acceleration, the joint moment and the reaction moment of each arm rod mass center under the mass center coordinate system of the space robot; outputting the reaction torque of the mechanical arm to the base to a fifth module;
and a fifth module, wherein a base forward attitude dynamic model is constructed in the fifth module, and the angular velocity and the angular acceleration of the base relative to a space robot centroid coordinate system are calculated in each period by taking a flywheel control moment and a reaction moment of the mechanical arm to the base as input.
8. The system of claim 7, wherein: calculating each joint moment by:
calculating the constraint force of each arm lever by considering the combined external force borne by the arm lever, the inertial force caused by the external force borne by the arm lever and the inertial force caused by the external force borne by the base;
calculating the constraint moment of each arm lever by utilizing the constraint force of each arm lever and considering the combined external moment of couple of each arm lever;
and calculating the moment of each joint according to the constraint moment of each arm lever and the rotation unit direction vector of each joint.
9. The system of claim 8, wherein: the calculation process of the restraint force of each arm lever and the restraint moment of each arm lever is that the restraint force of each external arm lever is calculated from the external arm lever to the internal arm lever, the counter number of the restraint force of the external arm lever obtained through calculation is used as the external force of the internal arm lever, and the counter number of the restraint moment of the external arm lever is used as the external moment of the internal arm lever.
10. The system of claim 7, wherein: and calculating the speed of the mass center of each arm lever under the mass center coordinate system of the space robot by the following method:
calculating the angular velocity of each arm lever relative to the centroid coordinate system of the space robot according to the angular velocity of the base relative to the centroid coordinate system of the space robot and the relative motion angular velocity of each arm lever relative to the inscribed arm lever;
calculating the angular acceleration of each arm lever relative to the mass center coordinate system of the space robot according to the angular velocity and the angular acceleration of the base relative to the mass center coordinate system of the space robot and the relative motion angular velocity and the angular acceleration of each arm lever relative to the inner arm lever;
and calculating the speed of the mass center of each arm lever in the mass center coordinate system of the space robot according to the angular speed of the base relative to the mass center coordinate system of the space robot, the position of the mass center of each arm lever relative to the inscribed joint of the arm lever and the angular speed of each arm lever relative to the mass center coordinate system of the space robot.
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