视觉伺服空间机器人运动硬件仿真研究

Hardware Simulation Research of Space Robot Motion

对空间机器人操作臂与安装平台之间耦合关系进行了分析,建立了空间机器人各关键部件的模拟器,并组建起硬件仿真试验平台。基于该平台对空间机器人运动控制特性进行了研究,建立了基于视觉反馈的运动规划算法和关节电机闭环控制模型。对仿真过程中的延时环节进行了分析,并采用Smith预估的方法对系统延时进行了补偿。系统自主捕获仿真试验试结果表明,所采用运动控制算法能够稳定收敛于目标,仿真平台能够较好的完成对机器人控制和通讯能力的模拟测试及系统控制算法的验证。

The coupling between the manipulation and the carder in the space robot was introduced, and the simulators for these key components of space robot and hardware simulation experimental platform were builded up. Based on this platform, the moving control character of space robot was studied. The moving planning algorithm based on the eye feedback and motor closed loop control model were established. The system time delay was analyzed and Smith-estimate-compensate algorithmic was used to compensate the time delay. 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 communication and the control capability. And the control algorithms are validated on the platform.