Research And Realization Of Real-time Calculation Systeam For Space Robot Dynamics Parameters

In recent years, China’s activities to explore space more and more frequent, space robot applications are more and more widely. Space robots work mainly in space, but have to withstand the test of the ground launch environment, and because some on-orbit operations need to use complex control algorithm, which are the system’s processing power and real-time has a higher demand. The traditional multi-core processor has been difficult to do. Based on the above situation, this paper has carried out an in-depth study on the space robot’s hybrid control algorithm, and proposes a real-time solution system for dynamic parameters of space robot manpower hybrid control algorithm. The parallel processing capability of hardware circuit is used to realize the acceleration algorithm The purpose of this paper is to set up the hardware test platform of the system and experiment with the typical task as an example, and finally verify the effectiveness of the real-time solution system of the dynamic parameters of space robot.First of all, this paper analyzes the status quo and dynamics of space robot research at home and abroad, and puts forward the background and direction of this paper. According to the configuration of seven - degree -of - freedom space manipulator, the dynamic equation is studied deeply.On this basis, the method of solving the dynamic parameters of space robot is further deduced.Secondly, based on the analysis of the requirements of the dynamic parameters calculation system, the design of the real-time solution system of the dynamic parameters of the space robot is given by comparing the selection of the FPGA and the selection of the data type. Program.Thirdly, according to the design scheme of the dynamic calculation system of space robot, the whole solution system is divided into multiple sub-modules. The design of each sub-module is carried out, and finally the function of the system is realized by using hardware logic on the FPGA. At the same time, in order to evaluate the rationality of the system design, the hardware logic resources consumed by each module are counted.Finally, the hardware test platform of the system is set up. The test and experimental study on the real-time solution system of the dynamic parameters of the space robot are carried out. The experimental results verify the feasibility and effectiveness of the real-time solution system of the dynamic parameters of the space robot.