双臂自由飞行空间机器人地面实验平台系统设计

DESIGN OF TESTED SYSTEM ON GROUND FOR DUAL ARM FREE FLYING SPACE ROBOT

本文主要讨论在地面上模拟的空间微重力环境下能够自主捕捉目标的双臂自由飞行空间机器人地面实验平台的系统设计方案 .该系统由机器人实验模型、视觉系统、通讯系统、主机系统、气浮平台及浮动目标六个子模块组成 .本文首先讨论系统各子模块的设计原则 ,其中重点讨论机器人实验模型设计 ,其次讨论基于层次递减式控制系统结构 ,它由用户界面、策略控制及运动控制三个层次组成 .

This paper focuses on the design scheme of ground tested system on ground for dual arm free flying space robot, which can capture the floating target autonomously in an artificial micro gravity environment. The system cosists of six sub system, such as robot vision, communication,host computer platform and floating target. Firstly, it discusses the design principle of the components of the system, with emphasis on the robot experimental model. Secondly, deliberates the control system architecture based on hierarchy descending which user interface, strategic control and dynamic control. Finally, it taks over the control algorithm of flying maneuver and arm slew.