【作者】 艾晨光；

【导师】 孙汉旭；

【作者基本信息】 北京邮电大学 ， 机械电子工程， 2013， 硕士

【摘要】 随着空间事业的不断发展,空间机器人在轨操作任务变得越来越繁重复杂。捕获目标是空间机器人执行在轨操作的首要任务,通过地面微重力实验平台对空间机器人目标捕获操作进行模拟,是研究空间机器人的一种重要手段。本文基于空间机器人地面操作实验,选取空间机器人与捕获目标作为研究对象,对空间机器人目标捕获操作进行系统性的研究。首先,对空间机器人目标在轨操作及实验平台的研究现状进行分析,选取本文所研究的空间机器人为对象,建立了六自由度机械臂运动学模型,给出关节角与末端位姿的映射关系。并通过运动学仿真对本研究所用的机械臂进行分析。其次,针对目标捕获操作中机械臂捕获精度问题,通过保证单关节输出精度的方式确保机械臂末端误差范围,测定并验证关节定位精度达到的水准。提出测试过程中测角误差的修正方法,保证了关节测量精度。再次,针对定基座的空间机械臂末端机械手工作空间有限的问题,提出机械臂与目标星之间相互配合、协调控制的机制来完成目标捕获操作。同时设计机械臂与目标星交会捕获时的控制策略。再次,结合研究所用实验平台的特点,提出目标姿态测定方案,搭建目标位姿测量系统。并设计目标星位姿控制方案,实现捕获目标自主调姿的功能。最后,搭建空问机器人目标捕获模拟实验平台,对各个分系统的构成,捕获实验控制系统进行设计。分别进行空间机械臂、目标星控制实验以及目标捕获演示实验,检验机械臂目标星系统的控制性能和捕获协调控制方案的可行性和可靠性。总结研究成果,并进行展望。更多还原

【Abstract】 As the continuous development of space technology, space robots become increasingly onerous and complex on-orbit operation tasks. The capture target space robot to perform the primary task of the rail operation, space robot target acquisition operations simulated microgravity experimental platform through the ground, is an important means of research space robot. Based on the ground operations of the space robot experiment, select the space robot and capture the target as the object of study, systematic study of the space robot target acquisition operations.First, the analysis of the research status of the space robot target acquisition experimental platform selected research space robot object the establishment of six degrees of freedom manipulator kinematics model, given the joint angles, joint angle end position and orientation mapping relationship. And analyze the kinematics simulation of the robotic arm used in this study.Secondly, the manipulator capture accuracy for target acquisition, to propose experimental calibration test means to improve the the joint precision, in order to ensure the control of the robot arm end positioning accuracy. Design and build a joint test platform proposed compensation method of angle measurement error, ensure joint measurement accuracy.Again, the end of the space manipulator mechanical clutch work space is limited for the fixed-base issue, between the manipulator and target star with coordinated control mechanism to accomplish the goal of capture operation. Design robotic arm with the target star intersection control strategy and target acquisition. Once again, the combination of the Institute with the characteristics of the experimental platform is proposed to capture the the target attitude determination program, to build the target position and orientation measurement system. And the design goals horoscope posture control scheme, to achieve the the capture target independent attitude adjustment function.Finally, build a space robot target acquisition simulation platform, the composition of the various subsystems, capture the experimental control system design. Space manipulator respectively, the target satellite control experiment, and target acquisition demonstration experiments, the feasibility and reliability of the inspection robot arm control of the target star system performance and capture control program. Summary of the research results and prospects.更多还原