中国科技核心期刊

中文核心期刊

CSCD来源期刊

空间控制技术与应用 ›› 2015, Vol. 41 ›› Issue (2): 30-35.

• 技术交流 • 上一篇    下一篇

空间机器人协调控制全物理仿真设计与验证

  

  • 出版日期:2015-04-21 发布日期:2015-04-27

The Design and Verification of Experiment System for Cooperative Control of Space Robot

  • Online:2015-04-21 Published:2015-04-27

摘要: 机械手在空间运动时,对卫星本体会产生干扰,卫星本体采用协调控制方法,减少机械手运动对本体的影响.设计基于气浮台的全物理仿真试验系统,通过气足漂浮支撑机械手和三自由度气浮台,来模拟卫星在空间微重力环境下一个平面内的协调控制运动,采用星上部件、控制器和控制软件,对协调控制进行了验证.

关键词: 空间机器人, 协调控制, 全物理仿真试验系统

Abstract: Crosscouplings between the satellitebase and the manipulator occur when the manipulator move around. The cooperative control method is used to decrease the effect of disturbance torque on satellite attitude. The experimental simulation system is designed based on the airbearing table. The manipulator beard by gas is installed on the airbearing platform for simulating the crosscoupling motions in the microgravity condition. The cooperative control method is verified via the experimental equipment, control unit and software on board.

Key words: space robot, cooperative control, ground experiment system