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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 .最后讨论机器人本体飞行运动控制算法和机械手臂操作控制算法
This dissertation mainly discusses the system design of the ground-based experimental platform of a two-arm free-flight space robot capable of capturing the target under the simulated conditions of space microgravity on the ground.The system consists of a robot experimental model, a vision system, a communication system, a host system, Platform and floating target.This paper first discusses the design principles of each sub-module of the system, focusing on the robot experimental model design, and secondly discusses the architecture based on the hierarchical descending control system, which consists of three user interface, strategy control and motion control Level composition.Finally, we discuss the robot ontology flight motion control algorithm and manipulator operation control algorithm