空间机械手模拟器系统设计与实验研究

空间机器人系统复杂,需要在地面进行充分的实验以验证和评估其设计方案和控制算法。为了对系统方案中各部件电气接口设计的有效性、信息传递的正确性进行检验,同时,演示验证信息管理、任务调度的实时性,以及在轨执行任务的能力,设计并研制了一套空间机械手模拟器系统。该系统由空间机械手中央控制器模拟器、关节电模拟器、手爪电模拟器、手眼相机电模拟器、图形仿真器、空间机械手动力学模块和信息调度仿真器组成,各部件之间的电气连接与星上实际系统一致。通过HLA/RTI(Run Time Infrastructure)仿真支撑环境与航天器姿轨控系统进行信息同步和交互,实现了空间机器人在轨任务的仿真。最后提出了一种空间机器人在轨协调控制方法,利用该系统进行了空间机器人协调控制圆弧实验,实验结果表明该系统设计合理、运行稳定,采用的协调控制方法可行有效。

Design and Experimental Study of Space Manipulator Simulator System

As the complexity of space robot system,it is necessary to perform adequate experiments to verify the design schemes and assess the effectiveness of control methods on ground.A space manipulator simulator system was designed and developed to test correctness and effectiveness of electrical interface design,information transfer.At the same time,it was used to demonstrate real time in information management,task scheduling and their ability of implementing tasks in orbit.It is composed of seven subsystems: the central controller simulator,the joints electric simulator,the paws electric simulator,the hand-eye camera simulator,the graphics simulator,the space robotic dynamics module and the information scheduling emulator.The interfaces between each part are consistent with the actual system.It interacts and keeps information synchronization with the attitude and orbit control system of the satellite base by HLA/ RTI simulation environment.At last,the coordinated control experiment was conducted and the results verify the performance of the system and the effectiveness of the proposed coordinated control method.