CN114683285B - simulation modeling method and system for shortcut space robot - Google Patents
simulation modeling method and system for shortcut space robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
Abstract
The invention relates to a rapid space robot simulation modeling method, which takes joint angles, joint angular velocities, joint angular accelerations and flywheel control moments of a mechanical arm as inputs, and circularly solves a kinematic model of the mechanical arm, a mass center kinematic model of a space robot, a mechanical arm installation kinematic model, a reverse dynamics model of the mechanical arm and a base forward gesture dynamics model according to a preset time step, so as to obtain a dynamics simulation data sequence of a space robot base and the mechanical arm. The invention carries out modularized modeling on the dynamics of the space robot base and the mechanical arms, researchers can independently develop the base and each mechanical arm simulation module, and then carry out module association calculation by utilizing the forward and reverse dynamics mixing method and the space compound kinematics method. The characteristics help researchers to quickly and efficiently realize space robot simulation modeling.
Description
Technical Field
The invention belongs to the technical field of on-orbit service and maintenance of space vehicles, and relates to a modularized rapid space robot simulation modeling method.
Background
the on-orbit service and maintenance are one of front-edge hot spots of the aerospace technology, and service operations such as close-range observation, fuel filling, auxiliary orbit transfer, module replacement, component maintenance and the like are implemented after a service aircraft approaches a space target, so that on-orbit fault recovery of the target satellite can be realized, the service life is prolonged, the on-orbit application value is continuously exerted, and great economic benefits are generated.
The space robot satellite with the mechanical arm is the most direct method for implementing close-range service operation on the target satellite, especially fine operation tasks such as module replacement, component maintenance and the like. The dynamic simulation modeling of the space robot is an indispensable work for the analysis of the short-distance operation tasks and the scheme design of the on-orbit service aircraft. The existing space robot dynamics simulation modeling is realized based on multi-body dynamics software. Most of the software is commercial software and some of the software is open source software, but all of the software has the following disadvantages: the method has the advantages of large software scale, complex algorithm, poor modularity, poor autonomous code controllability, and complex processing with a self-developed control program interface, and relates to a large amount of debugging work.
at present, no public literature report and patent which are the same as the modularized rapid space robot simulation modeling method proposed by the patent exist at home and abroad.
Disclosure of Invention
The invention solves the technical problems that: the modularized rapid space robot simulation modeling method and system support researchers to efficiently and independently and controllably realize space robot dynamics simulation modeling development, and meet the requirements of on-orbit service aircraft on close-range operation task analysis and scheme design.
The solution of the invention is as follows: the rapid space robot simulation modeling method takes joint angles, joint angular speeds, joint angular accelerations and flywheel control moments of a mechanical arm as inputs, and circularly solves a kinematic model of the mechanical arm, a mass center kinematic model of the space robot, a mechanical arm installation kinematic model, a reverse kinetic model of the mechanical arm and a base forward gesture kinetic model according to a preset time step, so as to obtain a kinetic simulation data sequence of the base and the mechanical arm of the space robot; wherein the method comprises the steps of
The kinematic model of the mechanical arm takes joint angles and joint angular velocities of the mechanical arm as input, and calculates the positions, the velocities and the accelerations of all arm rods of the mechanical arm relative to an installation coordinate system of the mechanical arm;
The method comprises the steps that a mass center kinematic model of the space robot takes the position, the speed and the acceleration of each arm lever relative to a mechanical arm installation coordinate system as input, and the position, the speed and the acceleration of the mass center of the space robot relative to a mass center body system of a base are calculated;
The mechanical arm is provided with a kinematic model, and the motion of the mechanical arm installation coordinate system under the mass center coordinate system of the space robot is solved;
The mechanical arm reverse dynamics model takes joint angle, joint angular velocity and joint angular acceleration of a mechanical arm, angular velocity and angular acceleration of a base relative to a space robot mass center coordinate system, external force moment born by the base, external force moment born by each arm rod, external force born by each arm rod and moment arm vector born by each arm rod relative to the mass center of the arm rod as inputs, and calculates angular velocity and angular acceleration of each arm rod relative to the space robot mass center coordinate system, velocity and acceleration of each arm rod mass center under the space robot mass center coordinate system, moment of each joint and reaction moment of the mechanical arm to the base.
the forward gesture dynamics model of the base takes flywheel control moment and reaction moment of the mechanical arm on the base as input, and calculates the angular speed and the angular acceleration of the base relative to a centroid coordinate system of the space robot.
Preferably, the acceleration of each arm lever of the mechanical arm with respect to the mechanical arm mounting coordinate system is calculated by:
according to the joint angle and the joint angular velocity of the mechanical arm, calculating the relative motion angular velocity and the angular acceleration of each arm lever relative to the inner arm lever;
Calculating the angular velocity of each arm rod relative to the mechanical arm installation coordinate system by using the calculated relative motion angular velocity of each arm rod relative to the inner connecting arm rod;
calculating the angular acceleration of each arm lever relative to the mechanical arm installation coordinate system by using the angular speed of each arm lever relative to the mechanical arm installation coordinate system, the relative motion angular speed and the angular acceleration of each arm lever relative to the internal connecting arm lever;
and calculating the acceleration of the mass center of each arm lever in the mechanical arm installation coordinate system according to the angular acceleration of each arm lever in the mechanical arm installation coordinate system, the position of the mass center of each arm lever under the mechanical arm installation coordinate system and the angular speed of each arm lever in the mechanical arm installation coordinate system.
Preferably, the mechanical arm installation kinematic model takes the position, the speed and the acceleration of the mass center coordinate system of the space robot relative to the mass center body system of the base and the angular speed and the angular acceleration of the base relative to the mass center coordinate system of the space robot as inputs, and calculates the position, the speed and the acceleration of the mechanical arm installation coordinate system under the mass center coordinate system of the space robot.
Preferably, the angular velocity and the angular acceleration of the base relative to the centroid coordinate system of the space robot are calculated by the forward gesture dynamics model of the base in the previous cycle.
Preferably, the speed of each arm centroid in the spatial robot mass center coordinate system is calculated by:
Calculating the angular velocity of each arm lever relative to the mass center coordinate system of the space robot according to the angular velocity of the base relative to the mass center coordinate system of the space robot and the angular velocity of the relative motion of each arm lever relative to the internal connecting arm lever;
Calculating the angular acceleration of each arm rod relative to the mass center coordinate system of the space robot according to the angular speed and the angular acceleration of the base relative to the mass center coordinate system of the space robot and the relative motion angular speed and the angular acceleration of each arm rod relative to the internal connecting arm rod;
And calculating the speed of each arm centroid under the space robot mass center coordinate system according to the angular speed of the base relative to the space robot mass center coordinate system, the position of each arm centroid relative to the inscribed joint and the angular speed of each arm relative to the space robot mass center coordinate system.
Preferably, each joint moment is calculated by:
Calculating the constraint force of each arm lever by considering the combined force born by the arm lever and the inertia force caused by the external force born by the base;
calculating the constraint moment of each arm lever by using the constraint force of each arm lever and considering the combined external moment of the 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 constraint force of each arm lever and the constraint moment of each arm lever is that the external arm lever is calculated to the internal arm lever, and the calculated opposite number of the constraint force of the external arm lever is used as the external force of the internal arm lever, and the opposite number of the constraint moment of the external arm lever is used as the external moment of the internal arm lever.
A rapid space robot simulation modeling system, comprising:
the first module is used for constructing a kinematic model of the mechanical arm, taking joint angles and joint angular velocities of the mechanical arm as input, calculating the positions, the velocities and the accelerations of all arm rods of the mechanical arm relative to an installation coordinate system of the mechanical arm in each period, and inputting calculation results into the second module;
The second module is used for constructing a space robot mass center kinematic model, taking the position, the speed and the acceleration of each arm lever relative to a mechanical arm installation coordinate system as input, calculating the position, the speed and the acceleration of the mass center of the space robot relative to a base mass center body system in each period, and inputting a calculation result to the third module;
the third module is used for constructing a mechanical arm installation kinematic model, and solving the motion of the mechanical arm installation coordinate system in the space robot mass center coordinate system in each period according to the output structure of the second module and the angular speed and the angular acceleration of the base which are output in the fifth module in one period relative to the space robot mass center coordinate system;
The fourth module is used for constructing a reverse kinetic model of the mechanical arm, and the angular velocity and the angular acceleration of the mechanical arm, the angular velocity and the angular acceleration of the base under the mass center coordinate system of the space robot, the external force applied to the base, the external 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 the arm lever are input, and the angular velocity and the angular acceleration of each arm lever relative to the mass center coordinate system of the space robot, the velocity and the acceleration of each arm lever mass center under the mass center coordinate system of the space robot, each joint moment and the reaction moment of the mechanical arm on the base are calculated in each period; outputting the reaction moment of the mechanical arm to the base to a fifth module;
And the fifth module is used for constructing a forward gesture dynamics model of the base, taking flywheel control moment and reaction moment of the mechanical arm on the base as input, and calculating the angular speed and the angular acceleration of the base relative to a centroid coordinate system of the space robot in each period.
Preferably, each joint moment is calculated by:
Calculating the constraint force of each arm lever by considering the combined force born by the arm lever and the inertia force caused by the external force born by the base;
calculating the constraint moment of each arm lever by using the constraint force of each arm lever and considering the combined external moment of the 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 constraint force of each arm lever and the constraint moment of each arm lever is that the external arm lever is calculated to the internal arm lever, and the calculated opposite number of the constraint force of the external arm lever is used as the external force of the internal arm lever, and the opposite number of the constraint 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, from the practical point of view, the invention provides a modularized rapid space robot simulation modeling method, which utilizes the space robot base and the mechanical arm to perform forward and reverse dynamic hybrid modeling and space composite kinematics solving to achieve the simulation effect equivalent to that of multi-body dynamics software.
(1) The invention can modularly and rapidly realize space robot simulation modeling
The invention carries out modularized modeling on the dynamics of the space robot base and the mechanical arms, researchers can independently develop the base and each mechanical arm simulation module, and then carry out module association calculation by utilizing the forward and reverse dynamics mixing method and the space compound kinematics method. The characteristics help researchers to quickly and efficiently realize space robot simulation modeling.
(2) The invention can realize simulation modeling of the space robot in a mode of autonomous and controllable mode
According to the simulation modeling method and the specific steps provided by the invention, researchers can select development languages and development environments by themselves, so that the space robot simulation modeling algorithm program development is realized, the program codes are completely and independently controllable, the problem of 'black boxes' of commercial software is avoided, and the problems of environment compatibility and interface matching of open source software are also reduced.
Drawings
FIG. 1 is a flow chart of simulation modeling of a modular shortcut space robot of the present invention.
Detailed Description
The invention is further illustrated below with reference to examples.
The process for realizing the space robot simulation modeling comprises the following steps:
(1) And establishing a kinematic model of the mechanical arm. The model input is the joint angle q of the mechanical armjangular velocity of jointAnd joint angular acceleration/>(subscript j indicates the jth arm), and outputs the position r of each arm relative to the arm mounting coordinate system (m-system)mjSpeed/>And acceleration/>(see FIG. 1).
(1.1) calculating the relative movement angular velocity Ω of each arm with respect to the inner armjSum angular accelerationthe calculation formulas are respectively/>And/>Middle lja unit direction vector for each joint rotation;
(1.2) calculating the angular velocity ω of each arm relative to the arm-mounted coordinate system (m-system)mjThe formula is omegamj＝Ω1+Ω2+…+Ωj；
(1.3) calculating the angular acceleration of each arm relative to the arm mounting coordinate System (m System)the formula is
(1.4) calculating the position r of the centroid of each arm under the mechanical arm installation systemmj, the formula is
rmj＝dm1+d12+d23+…+dj-2,j-1+djj，
D inm1d is the mounting position of the joint 1j-2,j-1To the position of the joint j-1 relative to its inscribed joint, the joint angle qjDetermining djjthe position of the centroid of arm j relative to its inscription joint j;
(1.5) calculating the speed of the mass center of each arm lever in the mechanical arm installation coordinate system (m system)the formula is
(1.6) calculating the acceleration of the mass center of each arm lever in the mechanical arm installation coordinate system (m system)the formula is
(2) And establishing a system centroid kinematics model. The model input is the position r of each arm rod calculated in the step (1) relative to a mechanical arm installation coordinate system (m system)mjspeed and velocity ofAnd acceleration/>the output is the position r of the system centroid (G) relative to the base centroid body system (b system)bGSpeed/>And acceleration/>(see FIG. 1). The calculation formula is that
wherein m isTM is the total mass of the systemjThe mass of each arm rod of the mechanical arm is rbmis the installation position of the mechanical arm under the base mass center body system (b system).
(3) And establishing a mechanical arm installation kinematic model. The model solves the motion of a mechanical arm installation coordinate system (m system) under a system mass-center system (G system). Model input is the position r of the system centroid (G) calculated in the step (2) relative to the base centroid body system (b system)bGspeed and velocity ofAnd acceleration/>and angular velocity ω of the base relative to the system mass center (G-system)biAnd angular acceleration/>ωbiAnd/>the model in the last period step (5) is calculated; the model output is the position r of the mechanical arm installation coordinate system (m system) under the system mass-center system (G system)GmSpeed/>And acceleration/>(see FIG. 1).
(3.1) calculating the position r of the base centroid system (b-system) under the system centroid system (G-system)GbSpeed ofAnd acceleration/>The calculation formula is that
rGb＝-rbG
(3.2) calculating the position r of the robot arm installation coordinate System (m System) under the System Mass center System (G System)Gmspeed and velocity ofAnd acceleration/>The calculation formula is as follows:
rGm＝rGb+rbm
(4) And (5) establishing a reverse dynamics model of the mechanical arm. The input of the model is the joint angle q of the mechanical armjangular velocity of jointAnd joint angular acceleration/>angular velocity ω of the base relative to the system mass center (G-system)biAnd angular acceleration/>ωbiAnd (3) withthe external force F applied to the base is calculated by the model in the previous period step (5)bThe external moment M of force exerted on each armgjExternal force F applied to each arm levergjand the arm force vector r of the external force exerted by each arm lever relative to the mass center of the arm levergj. The output of the model is the angular velocity omega of each arm relative to the system mass center system (G system)jangular acceleration/>velocity/>, of each arm centroid under systemic mass system (G system)acceleration/>Moment M of each jointcjAnd moment T of reaction of mechanical arm to baseMR(see FIG. 1).
(4.1) calculating the angular velocity ω of each arm relative to the system's mass-center system (G-system)jthe formula is
ωj＝ωbi+Ω1+Ω2+…+Ωj
(4.2) calculating the angular acceleration of each arm relative to the system's mass-center system (G-system)the formula is
(4.3) calculating the velocity of the centroid of each arm under the System Mass System (G System)the formula is
In the method, in the process of the invention,Calculated in step (3.2), ωjCalculated in the step (4.1).
(4.4) calculating the acceleration of the centroid of each arm under the System Mass System (G System)the formula is
In the method, in the process of the invention,Calculated in step (3.2), ωjCalculated in the step (4.1)/(Calculated in the step (4.2).
(4.5) calculating the arm constraint force FhjThe calculation formula is
In the middle ofThe third item on the right side of the system mass center system (G system) is a non-inertial system when the mass center acceleration of the system exists, the inertia force caused by the external force applied to the arm lever is represented by the third item on the right side of the system mass center system, and the inertia force caused by the external force applied to the base is represented by the fourth item; the calculation process is that the external arm lever is calculated to the internal arm lever, and the constraint force of the external arm lever is calculated to be the opposite number-FhjExternal force F to be used as an internal arm levergj-1。
(4.6) calculating the constraint moment of couple M of each armhjThe calculation formula is
wherein I isjFor the moment of inertia of the arm j,Is the external couple moment, r, applied to the arm lever jgjIs subjected to external force F by arm jgjArm vector relative to the arm centroid; the calculation process is that the external arm lever is calculated to the internal arm lever, and the constraint force of the external arm lever is calculated to be the opposite number-FhjExternal force F to be used as an internal arm levergj-1external arm lever constraint moment of couple opposite number-MhjExternal moment M to be used as an inner arm lever thereofgj-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 baseMRthe formula is
TMR＝-dm1×Fh1-Mh1
F in the formulah1For the constraint force of the joint 1, Mh1The moment of couple is constrained for the joint 1.
(5) And establishing a forward posture dynamics model of the base. The input of the model is flywheel control moment TwReaction moment T of mechanical arm on baseMR. The output is the angular velocity omega of the base relative to the system mass center system (G system)biand angular acceleration(see FIG. 1). The forward gesture dynamics model formula of the base is as follows:
Wherein I is the moment of inertia of the base including "freezing" the flywheel, TgFor compensating moment of flywheel gyro, Tg＝-ωbi×(Iwωw)，Iwis the rotational inertia of the flywheel omegawIs the angular velocity of the flywheel relative to the base. Solving the integral of the model formula to obtainAnd omegabiValues.
(6) With joint angle q of mechanical armj、And/>With flywheel control moment Twand (3) circularly resolving the models (see figure 1) in the step (1) to the step (5) according to a certain time step for input, and solving to obtain a dynamic simulation data sequence of the space robot base and the mechanical arm.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
The invention is not described in detail in part as being common general knowledge to a person skilled in the art.
Claims (9)
1. A rapid space robot simulation modeling method is characterized in that: the joint angle, the joint angular speed, the joint angular acceleration and the flywheel control moment of the mechanical arm are used as inputs, and a kinematic model of the mechanical arm, a space robot mass center kinematic model, a mechanical arm installation kinematic model, a reverse dynamic model of the mechanical arm and a base forward gesture dynamic model are circularly calculated according to a preset time step, so that a dynamic simulation data sequence of the space robot base and the mechanical arm is obtained; wherein the method comprises the steps of
Calculating the position, the speed and the acceleration of each arm rod of the mechanical arm relative to an installation coordinate system of the mechanical arm by taking the joint angle and the joint angular speed of the mechanical arm as input through a kinematic model of the mechanical arm;
Calculating the position, the speed and the acceleration of the mass center of the space robot relative to a mass center body system of the base by taking the position, the speed and the acceleration of each arm lever relative to a mechanical arm installation coordinate system as input through a space robot mass center kinematic model;
The method comprises the steps that a kinematic model is installed through a mechanical arm, the position, the speed and the acceleration of a mass center of a space robot relative to a mass center body system of a base and the angular speed and the angular acceleration of the base relative to the mass center coordinate system of the space robot are used as inputs, and the position, the speed and the acceleration of the mechanical arm installation coordinate system under the mass center coordinate system of the space robot are calculated;
Calculating the angular velocity and the angular acceleration of each arm relative to the space robot mass center coordinate system, the velocity and the acceleration of each arm mass center under the space robot mass center coordinate system, each joint moment and the reaction moment of the mechanical arm to the base by taking the joint angle, the joint angular velocity and the joint angular acceleration of the mechanical arm, the angular velocity and the angular acceleration of the base relative to the space robot mass center coordinate system, the external force moment of each arm, the external force of each arm and the moment arm vector of each arm external force relative to the arm mass center as inputs;
And calculating the angular speed and the angular acceleration of the base relative to a centroid coordinate system of the space robot by taking flywheel control moment and reaction moment of the mechanical arm on the base as input through a base forward gesture dynamic model.
2. The method according to claim 1, characterized in that: the angular velocity and the angular acceleration of the base relative to the mass center coordinate system of the space robot are calculated by the forward gesture dynamics model of the base in the previous cycle.
3. The method according to claim 1, characterized in that: the speed of each arm centroid in the space robot centroid coordinate system is calculated by:
Calculating the angular velocity of each arm lever relative to the mass center coordinate system of the space robot according to the angular velocity of the base relative to the mass center coordinate system of the space robot and the angular velocity of the relative motion of each arm lever relative to the internal connecting arm lever;
Calculating the angular acceleration of each arm rod relative to the mass center coordinate system of the space robot according to the angular speed and the angular acceleration of the base relative to the mass center coordinate system of the space robot and the relative motion angular speed and the angular acceleration of each arm rod relative to the internal connecting arm rod;
And calculating the speed of each arm centroid under the space robot mass center coordinate system according to the angular speed of the base relative to the space robot mass center coordinate system, the position of each arm centroid relative to the inscribed joint and the angular speed of each arm relative to the space robot mass center coordinate system.
4. the method according to claim 1, characterized in that: the joint moments were calculated by:
Calculating the constraint force of each arm lever by considering the combined force born by the arm lever and the inertia force caused by the external force born by the base;
calculating the constraint moment of each arm lever by using the constraint force of each arm lever and considering the combined external moment of the 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.
5. The method according to claim 4, wherein: the calculation process of the constraint force of each arm lever and the constraint moment of each arm lever is that the external arm lever is calculated to the internal arm lever, the calculated opposite number of the constraint force of the external arm lever is used as the external force of the internal arm lever, and the opposite number of the constraint moment of the external arm lever is used as the external moment of the internal arm lever.
6. a rapid space robot simulation modeling system is characterized by comprising:
The first module is used for constructing a kinematic model of the mechanical arm, taking joint angles and joint angular velocities of the mechanical arm as input, calculating the positions, the velocities and the accelerations of all arm rods of the mechanical arm relative to an installation coordinate system of the mechanical arm in each period, and inputting calculation results into the second module;
the second module is used for constructing a space robot mass center kinematic model, taking the position, the speed and the acceleration of each arm lever relative to a mechanical arm installation coordinate system as input, calculating the position, the speed and the acceleration of the mass center of the space robot relative to a base mass center body system in each period, and inputting a calculation result to the third module;
The third module is used for constructing a mechanical arm installation kinematic model in the third module and solving the motion of the mechanical arm installation coordinate system in the space robot centroid coordinate system in each period according to the output structure of the second module and the angular speed and the angular acceleration of the base which are output by the fifth module in one period relative to the space robot centroid coordinate system;
The fourth module is used for constructing a reverse kinetic model of the mechanical arm, and is used for outputting the moment of reaction of the mechanical arm to the base to the fifth module by taking the joint angle, the joint angular velocity and the joint angular acceleration of the mechanical arm, the angular velocity and the angular acceleration of the base under the centroid coordinate system of the space robot, the external force applied to the base, the external moment applied to each arm, the external force applied to each arm and the moment arm vector of the external force applied to each arm relative to the centroid of the arm as inputs and calculating the angular velocity and the angular acceleration of each arm relative to the centroid coordinate system of the space robot in each period, the velocity and the acceleration of each arm centroid under the centroid coordinate system of the space robot, each joint moment and the moment of reaction of the mechanical arm to the base;
And the fifth module is used for constructing a forward gesture dynamics model of the base, and is used for calculating the angular speed and the angular acceleration of the base relative to a centroid coordinate system of the space robot in each period by taking flywheel control moment and reaction moment of the mechanical arm on the base as input.
7. the system according to claim 6, wherein: the joint moments were calculated by:
Calculating the constraint force of each arm lever by considering the combined force born by the arm lever and the inertia force caused by the external force born by the base;
calculating the constraint moment of each arm lever by using the constraint force of each arm lever and considering the combined external moment of the 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.
8. The system according to claim 7, wherein: the calculation process of the constraint force of each arm lever and the constraint moment of each arm lever is that the external arm lever is calculated to the internal arm lever, the calculated opposite number of the constraint force of the external arm lever is used as the external force of the internal arm lever, and the opposite number of the constraint moment of the external arm lever is used as the external moment of the internal arm lever.
9. The system according to claim 6, wherein: the speed of each arm centroid in the space robot centroid coordinate system is calculated by:
Calculating the angular velocity of each arm lever relative to the mass center coordinate system of the space robot according to the angular velocity of the base relative to the mass center coordinate system of the space robot and the angular velocity of the relative motion of each arm lever relative to the internal connecting arm lever;
Calculating the angular acceleration of each arm rod relative to the mass center coordinate system of the space robot according to the angular speed and the angular acceleration of the base relative to the mass center coordinate system of the space robot and the relative motion angular speed and the angular acceleration of each arm rod relative to the internal connecting arm rod;
And calculating the speed of each arm centroid under the space robot mass center coordinate system according to the angular speed of the base relative to the space robot mass center coordinate system, the position of each arm centroid relative to the inscribed joint and the angular speed of each arm relative to the space robot mass center coordinate system.
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