CN115826432A - Semi-physical simulation verification system for controller driver of space mechanical arm system - Google Patents
Semi-physical simulation verification system for controller driver of space mechanical arm system Download PDFInfo
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- CN115826432A CN115826432A CN202211442038.5A CN202211442038A CN115826432A CN 115826432 A CN115826432 A CN 115826432A CN 202211442038 A CN202211442038 A CN 202211442038A CN 115826432 A CN115826432 A CN 115826432A
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Abstract
The invention discloses a semi-physical simulation verification system of a controller driver for a space mechanical arm system, which comprises the following components: a physical system and a simulation system; the object system comprises: the space manipulator controller, the joint driver and the joint single machine; the simulation system includes: the controller simulation module, the joint driver simulation module and the Vrep mechanical arm simulation module are respectively used for simulating the related functions of the space manipulator controller, the joint driver and the joint single machine; the joint driver simulation module is used for simulating related functions of the joint driver; and the Vrep mechanical arm simulation module is used for simulating the related functions of the joint single machine. The invention aims to solve the problem of functional verification difficulty caused by high coupling degree of each subsystem of a space manipulator system, and a plurality of semi-physical simulation subsystems are built by simulation software, corresponding hardware and simulation models of the design subsystems, so that the functional decoupling of a complete control system is completed, and each subsystem has the capability of independent debugging and joint debugging.
Description
Technical Field
The invention belongs to the technical field of space mechanical arms, and particularly relates to a semi-physical simulation verification system for a controller driver of a space mechanical arm system.
Background
In the space field, a spacecraft with a mechanical arm can complete a series of complex tasks in orbit, including maintenance of a space station, grabbing and capturing of a small satellite and assistance in the space docking process, and plays an increasingly important role. However, in the process of development, design and debugging of the mechanical arm system, the mechanical arm system has the defects of large number of single machines, complex system, high system coupling degree, difficulty in splitting into independent subsystems and great difficulty in debugging test. How to decouple a plurality of single machines in a mechanical arm system into a single subsystem is very important in the design and debugging process of the mechanical arm system.
Disclosure of Invention
The technical problem of the invention is solved: the semi-physical simulation verification system for the controller driver of the space manipulator system aims to solve the problem of difficulty in functional verification caused by high coupling degree of each subsystem of the space manipulator system, and a plurality of semi-physical simulation subsystems are built by simulation software of the design subsystems, corresponding hardware and simulation models, so that functional decoupling of a complete control system is completed, and each subsystem has the capabilities of independent debugging and joint debugging.
In order to solve the technical problem, the invention discloses a semi-physical simulation verification system for a controller driver of a space manipulator system, which comprises: a physical system and a simulation system;
a physical system, comprising: the space manipulator controller, the joint driver and the joint single machine; the space manipulator controller is used for receiving commands and information of upper-layer comprehensive electrons and sending control commands to the joint driver; the joint driver is used for driving the joint single machine to execute corresponding actions according to the received control command; the joint single machine is used as a motion executing mechanism and is used for executing corresponding actions under the driving of the joint driver so as to realize the motion of the position of the manipulator;
a simulation system, comprising: the system comprises a controller simulation module, a joint driver simulation module and a Vrep mechanical arm simulation module; the controller simulation module is used for simulating the related functions of the space manipulator controller; the joint driver simulation module is used for simulating related functions of the joint driver; and the Vrep mechanical arm simulation module is used for simulating the related functions of the joint single machine.
In the above-mentioned semi-physical simulation verification system of controller driver for space manipulator system, controller simulation module passes through the mode of software host computer, with the help of computer and external interface equipment, simulates space manipulator controller's correlation function, includes: control instruction distribution, mission planning, path planning, trajectory planning, communication with joint drivers, communication with joint driver simulation modules.
In the semi-physical simulation verification system of the controller driver for the space manipulator system, a communication protocol adopted by the controller simulation module is completely consistent with that of the space manipulator controller; the controller simulation module can realize the functions of task planning, path track planning and motion control which are completely consistent with those of the space manipulator controller, and comprises a kinematics and inverse kinematics algorithm of the mechanical arm, a task distribution state machine, an offline path maintenance and a track smooth interpolation algorithm.
In the above-mentioned semi-physical simulation verification system of controller driver for space robotic arm system, joint driver simulation module is through the mode of software host computer, with the help of computer and external interface equipment, simulates joint driver's correlation function, includes: control command reception, state feedback, and joint driver parameter adjustment.
In the semi-physical simulation verification system of the controller driver for the space mechanical arm system, a communication protocol adopted by the joint driver simulation module is completely consistent with that of the joint driver; the joint driver simulation module can realize the state feedback function completely consistent with the joint driver, and comprises: joint position, speed, current, moment, mode, simultaneously, can be with state feedback result up-send to space manipulator controller.
In the above semi-physical simulation verification system for a controller driver of a spatial manipulator system, the Vrep manipulator simulation module simulates the relevant functions of a joint stand-alone by using Vrep simulation software and calling an API functional interface, and includes: the position motion conditions of each joint and the end effector of the manipulator are simulated, so that the kinematics and inverse kinematics correctness of the manipulator, the working space of the manipulator, the path safety and the obstacle avoidance result can be verified in the simulation model.
In the semi-physical simulation verification system for the controller driver of the space manipulator system, the controller simulation module, the joint driver and the Vrep manipulator simulation module form a joint driver semi-physical subsystem.
In the semi-physical simulation verification system for the controller driver of the space mechanical arm system, the controller simulation module, the joint driver simulation module and the joint single machine form an execution mechanism semi-physical subsystem.
In the semi-physical simulation verification system for the controller driver of the space manipulator system, the space manipulator controller, the joint driver simulation module and the Vrep manipulator simulation module form a semi-physical subsystem of the controller.
The invention has the following advantages:
(1) The invention discloses a semi-physical simulation verification system of a controller driver for a space mechanical arm system, which is used for decoupling the highly-coupled space mechanical arm system into a plurality of single machine subsystems, wherein each subsystem has high independence and flexibility, and can be matched with other single machines for independent verification and also can be used for functional performance verification in the whole system integration process.
(2) The invention discloses a semi-physical simulation verification system of a controller driver for a space mechanical arm system.
(3) The invention discloses a semi-physical simulation verification system of a controller driver for a space mechanical arm system.
(4) The invention discloses a semi-physical simulation verification system of a controller driver for a space mechanical arm system.
Drawings
FIG. 1 is a block diagram of a controller driver semi-physical simulation verification system for a spatial robotic arm system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a joint actuator semi-physical subsystem in an embodiment of the present invention;
FIG. 3 is a block diagram of an actuator semi-physical subsystem according to an embodiment of the present invention;
fig. 4 is a block diagram of a controller semi-physical subsystem according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The space manipulator system mainly comprises the following single machines: the space manipulator controller is used for instruction processing and motion control, the joint driver is used for realizing the motion function of the manipulator, and the space manipulator controller is used as a joint single machine of the manipulator actuator. The instruction processing of the space manipulator controller is provided by an upper computer of the tester, and the motion control is realized by a joint driver and a joint single machine; the joint driver instruction is provided by parameter configuration and a space manipulator controller, and the joint single machine is required to be relied on for realizing the movement; the joint single machine is only responsible for the execution of the rotation, and the joint driver is required to provide the functions required by the relevant movement. All parts are mutually coupled, the debugging difficulty is high independently, the problem positioning difficulty is high during the joint test, and the difficulty in the debugging process can be increased.
Aiming at the coupling condition of the space mechanical arm system, on the basis of splitting each single machine, a combined test subsystem is formed by designing an upper computer or simulation software and the single machine through a semi-physical simulation system, the problems of function and performance debugging of each single machine are solved through subsystem test, and after the debugging of each single machine subsystem is finished, product combined test is carried out, so that the debugging test of a complete system is realized.
Referring to fig. 1, in this embodiment, the controller driver semi-physical simulation verification system for a space robot system includes: a physical system and a simulation system. The physical system may specifically include: the space manipulator controller, the joint driver and the joint single machine; the simulation system may specifically include: the device comprises a controller simulation module, a joint driver simulation module and a Vrep mechanical arm simulation module.
And the space manipulator controller is used for receiving the command and information of the upper layer comprehensive electronics and sending a control command to the joint driver.
And the joint driver is used for driving the joint single machine to execute corresponding actions according to the received control command.
And the joint single machine is used as a motion executing mechanism and is used for executing corresponding actions under the driving of the joint driver so as to realize the motion of the position of the manipulator.
And the controller simulation module is used for simulating the related functions of the space manipulator controller.
In this embodiment, the controller simulation module simulates the relevant functions of the space manipulator controller by means of a computer and an external interface device in a mode of a software upper computer, and comprises: control instruction distribution, mission planning, path planning, trajectory planning, communication with joint drivers, communication with joint driver simulation modules. Wherein, the communication protocol adopted by the controller simulation module is completely consistent with the space manipulator controller (here, the CAN communication function between the controller simulation module and the joint driver is mainly used); the controller simulation module can realize the functions of task planning, path track planning and motion control which are completely consistent with those of the space manipulator controller, and comprises algorithms of kinematics and inverse kinematics of the mechanical arm, a task distribution state machine, offline path maintenance, track smooth interpolation and the like.
And the joint driver simulation module is used for simulating the related functions of the joint driver.
In this embodiment, joint driver simulation module is through the mode of software host computer, with the help of computer and external interface equipment, simulates joint driver's correlation function, includes: control command reception, state feedback, and joint driver parameter adjustment. Wherein, the communication protocol adopted by the joint driver simulation module is completely consistent with that of the joint driver (here, the CAN communication function between the joint driver simulation module and the space manipulator controller is mainly used); the joint driver simulation module can realize the state feedback function completely consistent with the joint driver, and comprises: joint position, speed, current, moment, mode, simultaneously, can be with state feedback result up-send to space manipulator controller.
And the Vrep mechanical arm simulation module is used for simulating the related functions of the joint single machine.
In this embodiment, the Vrep manipulator simulation module simulates the relevant functions of the joint standalone by using the Vrep simulation software and calling the API functional interface, and includes: the position motion conditions of each joint and the end effector of the manipulator are simulated, so that the kinematics and inverse kinematics correctness of the manipulator, the working space of the manipulator, the path safety and the obstacle avoidance result can be verified in the simulation model.
In this embodiment, the space manipulator controller, the joint driver, the joint stand-alone, the controller simulation module, the joint driver simulation module, and the Vrep manipulator simulation module may be combined with each other at will, and the combination includes but is not limited to: the simulation system comprises a space manipulator controller/controller simulation module, a joint driver/joint driver simulation module, a joint single machine/Vrep manipulator simulation module.
Preferably, as shown in fig. 2, the controller simulation module may comprise a joint driver semi-physical subsystem with a Vrep robot simulation module. As shown in fig. 3, the controller simulation module may form a controller semi-physical subsystem with the joint driver simulation module and the joint standalone. The main function is to perform the function verification of position control and driver performance regulation of the driver and actuator subsystem. CAN communication is adopted between the controller simulation module and the joint driver, and between the joint driver and the joint single machine or between the joint driver and the Vrep mechanical arm simulation module. After receiving a task instruction, the controller simulation module performs task distribution processing, completes algorithm calculation such as kinematics, off-line path search, trajectory planning and the like, obtains a group of manipulator joint angular motion sequences, and then issues the joint angular motion sequences to a joint driver through CAN communication; and meanwhile, the joint state or the simulation system state returned by the joint driver is received and then returned to the controller simulation module through CAN communication so as to carry out corresponding manipulator state processing. The joint driver/controller semi-physical subsystem is used for independently verifying the functions of a joint driver and a joint single machine part when no space manipulator controller is in a real object state, and decoupling the joint driver, the joint single machine and the space manipulator controller.
Preferably, as shown in fig. 4, the space manipulator controller, the joint driver simulation module and the Vrep manipulator simulation module may form a controller semi-physical subsystem, and perform function verification such as instruction issuing of an integrated controller, communication processing, kinematics verification, task distribution, path planning, and trajectory interpolation. The main function is to verify the physical object of the space manipulator controller. The joint driver simulation module and the space manipulator controller adopt a CAN communication mode to receive joint position instructions issued by the space manipulator controller, and simultaneously realize a state feedback function completely consistent with a joint driver object, wherein the state feedback function comprises information such as joint position, speed, current, torque, working mode and the like, and the joint state CAN be fed back to the upper space manipulator controller. The Vrep mechanical arm simulation module is built by adopting Vrep and is used for simulating a joint single machine, an API (application program interface) of Vrep software is connected with other software upper computers, the motion of a mechanical arm model in the Vrep mechanical arm simulation module is controlled by a joint driver simulation module, the motion position correctness, the path safety and other conditions of the space mechanical arm can be intuitively reflected from the motion position and the state of the mechanical arm model in simulation software under the condition of no joint single machine entity, and the correctness of a kinematic algorithm in a space mechanical hand controller can be verified. Therefore, the semi-physical subsystem of the controller is used for independently verifying the functions of the space manipulator controller when no joint driver or joint single machine entity exists, and decoupling the space manipulator controller from the joint driver and the joint single machine.
Preferably, the controller simulation module, the joint driver simulation module and the Vrep mechanical arm simulation module CAN be connected through a CAN communication interface, a simulation verification subsystem (also called a simulation system) consisting of a pure software upper computer and a simulation model is built, and the system does not contain any real object. The method can verify algorithm contents of space manipulator kinematics, inverse kinematics, task division, path planning, track interpolation and the like under the condition that products do not exist, and meanwhile verify the correctness of the motion position, the safety of the path and the like from a manipulator simulation model. The simulation verification subsystem is used for independently verifying an algorithm, a task design and the like when an integrated controller, a joint driver and a joint single machine entity do not exist, and decoupling a task planning process from a space manipulator system entity.
In summary, the present invention provides a semi-physical simulation verification system for a controller driver of a space manipulator system, which is used for solving the difficulty of function verification caused by high coupling degree of each subsystem of the space manipulator system, and building a plurality of semi-physical simulation subsystems by simulation software of the design subsystem, corresponding hardware and simulation models, so as to complete function decoupling of a complete control system, wherein each subsystem has the capability of independent debugging and joint debugging. The problem of debugging the function and the performance of each single machine is solved through subsystem testing, and after the debugging of each single machine subsystem is completed, product joint testing is carried out, so that the debugging test of a complete system is realized.
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.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (9)
1. A controller driver semi-physical simulation verification system for a spatial robotic arm system, comprising: a physical system and a simulation system;
a physical system, comprising: the space manipulator controller, the joint driver and the joint single machine; the space manipulator controller is used for receiving commands and information of upper-layer comprehensive electrons and sending control commands to the joint driver; the joint driver is used for driving the joint single machine to execute corresponding actions according to the received control command; the joint single machine is used as a motion executing mechanism and is used for executing corresponding actions under the driving of the joint driver so as to realize the motion of the position of the manipulator;
a simulation system, comprising: the system comprises a controller simulation module, a joint driver simulation module and a Vrep mechanical arm simulation module; the controller simulation module is used for simulating the related functions of the space manipulator controller; the joint driver simulation module is used for simulating related functions of the joint driver; and the Vrep mechanical arm simulation module is used for simulating the related functions of the joint single machine.
2. The semi-physical simulation verification system of the controller driver for the space manipulator system as claimed in claim 1, wherein the controller simulation module simulates the related functions of the space manipulator controller by means of a software upper computer by means of a computer and an external interface device, and comprises: control instruction distribution, mission planning, path planning, trajectory planning, communication with joint drivers, communication with joint driver simulation modules.
3. The semi-physical simulation verification system of controller drivers for a space manipulator system of claim 2, wherein the communication protocol employed by the controller simulation module is fully consistent with the space manipulator controller; the controller simulation module can realize the functions of task planning, path track planning and motion control which are completely consistent with those of the space manipulator controller, and comprises a kinematics and inverse kinematics algorithm of the mechanical arm, a task distribution state machine, an offline path maintenance and a track smooth interpolation algorithm.
4. The semi-physical simulation verification system of the controller driver for the space manipulator system as claimed in claim 1, wherein the joint driver simulation module simulates the related functions of the joint driver by means of a software upper computer by means of a computer and an external interface device, and comprises: control command reception, state feedback, and joint driver parameter adjustment.
5. The semi-physical simulation verification system of controller driver for space robotic arm system of claim 4, wherein the communication protocol adopted by the joint driver simulation module is completely identical to the joint driver; the joint driver simulation module can realize the state feedback function completely consistent with the joint driver, and comprises: joint position, speed, current, moment, mode of operation, simultaneously, can be with state feedback result up-send to space manipulator controller.
6. The semi-physical simulation verification system of controller drivers for a spatial robotic arm system according to claim 1, wherein the Vrep robotic arm simulation module simulates the functions associated with a joint stand-alone by calling with Vrep simulation software and API functional interface, comprising: the position motion conditions of each joint and the end effector of the manipulator are simulated, so that the kinematics and inverse kinematics correctness of the manipulator, the working space of the manipulator, the path safety and the obstacle avoidance result can be verified in the simulation model.
7. The system of claim 1, wherein the controller simulation module forms a joint driver semi-physical subsystem with the joint driver and the Vrep robot simulation module.
8. The semi-physical simulation verification system of controller driver for a spatial robotic arm system of claim 1, wherein the controller simulation module forms an actuator semi-physical subsystem with the joint driver simulation module and the joint standalone.
9. The controller driver semi-physical simulation verification system for a spatial robot system of claim 1, wherein the spatial robot controller, the joint driver simulation module and the Vrep robot simulation module comprise a controller semi-physical subsystem.
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