摘要
建立了空间机器人控制系统的硬件仿真平台。研究了空间机器人基于手眼视觉的控制问题,建立了系统关键部件的模拟设备。仿真平台由中央控制器、关节模拟器、手眼模拟器、动力学/运动学仿真计算机和三维动画显示计算机组成。基于该平台,对空间机器人控制特性和仿真过程中的延时环节进行了研究。系统自主捕获仿真试验结果表明,所采用的运动控制算法能够稳定收敛于目标,仿真平台能够较好地完成对实际机器人系统控制过程的模拟测试及系统控制算法的验证。
This paper presents a simulation platform of the space manipulator.The important hand/eye robotic control problem for the space manipulator is studied,and the basic components of space robot are built up.This simulation experimental platform is composed of the main controller,joint simulators,hand-eye simulator and dynamics-kinematics simulation computer.Based on this platform,the moving control character of space robot is studied,and the system time delay is analyzed.The simulating result of autonomous capture process indicates that the adopted moving control algorithm can well converge to the target,and this platform can accomplish the simulation test of the control process and control algorithm of the actual system.
出处
《计算机工程与应用》
CSCD
北大核心
2008年第12期5-8,共4页
Computer Engineering and Applications
基金
国家高技术研究发展计划(863)(the National High- Tech Research and Development Plan of China under Grant No.2005AA742050)
关键词
空间机器人
仿真试验平台
运动控制算法
控制系统
space robot
simulated experiment platform
motion control algorithm
control system
