Research Of Space Robot Joint’s Control System

In recent years, with the continuous development of space technology, human activityhas been further extended to explore space. Human completed from atmosphere to outerspace, gradually expand to Mars from the moon. Space technology expanded from satellitelaunching to establish space station that human engaged to complete sc ientific andtechnological research. It is obvious that space will become the new place where human cansurvival and working in. But due to the big difference in temperature, small gravity, highvacuum, strong radiation environment, making the human in space under the threat ofincreased greatly. Using of the space robot to assist or replace human to finish a largenumber of work in space has become the world’s consistent goal. Space robot is dominatedby the space robot substrate and carry on the base of the mechanical arm, can assist orreplace human to finish special task assignment. For example： recycling and release thesatellite, repairing the station, refuel for aircraft. That can be greatly improved workefficiency, reduce the waste of resources., whether the space robot can complete the spacemission or not directly determines by rationalization of the joint control system. Therefore,the research of the joint control system of space robot has great significance for human spaceexploration activities.The joint control system of space robot is a position servo with high precision, fastresponse, strong stability. It is the actuator of space robot control system, also an importantpart of space robot control system. The purpose of this research is designing a joint controlsystem which is precise and fast of space robot. Mainly include building mathematical model,researching the algorithm and simulation of the control system. In order to improve thedynamic, steady-state performance, response speed, control precision of joint control systemof space robot, mainly finished the following work：Fiest,This paper expounds the research background and significance. It also introducesthe development of space robot at home and abroad and the current situation of joint actuatorand control algorithm.Second, choosing DC motor as joint actuor of space robot and researched traditionalPID algorithm and fuzzy PID control algorithm of space robot joint, and a fuzzy adaptivePID controller.Last, build the control system model of space robot joint in the simulation environmentof proteus and finish the software design of simulation model. At last, we get the technical index of the system by analyze the simulation result combining MATLAB and making abrief summary of the full text, and points out the shortcomings of this paper exists andimproved in future studies need to be made.