Robot Dynamic Force Perception and Zero gravity Motion Simulation Technology

被引：0

作者：

Hu R. ^{[1
,2
]}

Meng S. ^{[1
,2
]}

Zhang C. ^{[1
,2
]}

Dong Q. ^{[1
,2
]}

Zhang L. ^{[1
,2
]}

机构：

[1] Beijing Institute of Spacecraft Environment Engineering, Beijing

[2] Beijing Engineering Research Center of Intelligent Assembly Technology and Equipment for Aerospace Product, Beijing

来源：

Yuhang Xuebao/Journal of Astronautics | 2022年 / 43卷 / 07期

关键词：

BP neural network; On orbit servicing; Robot control; Zero gravity simulation;

D O I：

10.3873/j.issn.1000-1328.2022.07.014

中图分类号：

学科分类号：

摘要：

Aiming at the requirements of ground zero gravity simulation for spacecraft on orbit servicing missions, the zero gravity motion simulation technology based on industrial robot is studied. A force perception prediction model based on BP neural network is established. The model uses the attitude, acceleration, angular velocity and angular acceleration of the robot end as the input layer parameters, and the six dimensional force sensor data of the robot end as the output layer parameters. The high precision dynamic force perception of the robot end load is realized. The orthogonal experiment method is designed to determine the motion path points of the robot for sample data acquisition, and the force perception prediction model is realized to cover the whole workspace of the robot. Furthermore, based on the force perception data of the end load of the robot, the dynamics theory is applied to calculate the motion speed of the load in the state of weightlessness, and the robot is controlled to perform the corresponding motion, and the zero gravity motion simulation of the end load of the robot is realized. © 2022 China Spaceflight Society. All rights reserved.

引用

页码：974 / 982

页数：8

共 27 条

[1]

EASDOWN W, FELICETTI L., A mission architecture and systems level design of navigation, robotics and grappling hardware for an on-orbit servicing spacecraft [ C ], UKSEDS Student Space Symposium 2020, (2020)

[2]

DING X L, WANG Y C, WANG Y B, Et al., A review of structures, veriiication, and calibration technologies of space robotic systems for on-orbit servicing, Science China Techno logical Sciences, 64, 3, pp. 462-480, (2021)

[3]

QI Naiming, SUN Kang, WANG Yaobin, Micro/low gravity simulation and experiment technology for spacecraft [J], Journal of Astronautics, 41, 6, pp. 770-779, (2020)

[4]

WANG Zhengliang, Create an overweight, weightlessness and microgravity environment with magnetic fluids on the ground- based [J], Journal of Astronautics, 25, 2, pp. 179-181, (2004)

[5]

KLIONOVSKA K, BURRI M., Hardware-in-the-loop simulations with umbra conditions for spacecraft rendezvous with PMD visual sensors, Sensors, 21, 4, pp. 1455-1470, (2021)

[6]

MOU F, XIAO X, ZHANG T, Et al., An HIL simulation facility for task verification of the chinese space station manipulator [ C], 2018 IEEE International Conference on Mechatronics and Automation (ICMA), (2018)

[7]

MAVRAKIS N, HAO Z, GAO Y., On-orbit robotic grasping of a spent rocket stage: Grasp stability analysis and experimental results, Frontiers in Robotics and AI, 8, pp. 1-19, (2021)

[8]

DESTEFANO M, MISHRA H, GIORDANO AM, Et al., A relative dynamics formulation for hardware-in-the-loop simulation of on-orbit robotic missions [J], IEEE Robotics and Automation Letters, 6, 2, pp. 3569-3576, (2021)

[9]

CHANG Tongli, CONG Dacheng, YE Zhengmao, Et al., Research on fundamental problems and the solutions of HIL simulation for on-orbit docking dynamics, Journal of Astrona utics, 29, 1, pp. 53-58, (2008)

[10]

XIAO Yuzhi, ZOU Huaiwu, XU Feng, Modeling and simulation analysis of docking dynamics test system, Journal of Astron autics, 31, 3, pp. 674-680, (2010)

← 1 2 3 →