Research On Trajectory Planning And Intelligent Control Of Space Manipulator Capture For Non-cooperative Targets

Because of the continuous and frequent space exploration and research activities,most of the spacecraft that used to be used in detection activities have stopped working,and they have become a collision threat to subsequent spacecraft,becoming space junk and space debris.Therefore,at present,people all over the world are committed to reducing in-orbit debris and removing space garbage,hoping to achieve the most efficient garbage removal work with low cost.Space manipulator technology has become one of the most promising solutions in the field of in-orbit debris removal.Space floating space manipulator system is a root-free system,which is not affected by external force and moment,momentum conservation,strong coupling between carrier and matrix posture,so the research method will be different from the traditional research method of ground fixed pedestal manipulator system.In this paper,the following problems of space manipulator system are studied:Firstly,the kinematic and dynamic model of space multi-link manipulator system is established,the given space single-arm three-bar six-degree-of-freedom manipulator system is simulated in software Matlab,and the momentum conservation characteristics of floating base space manipulator system and the coupling of attitude and position of matrix connecting rod are verified;Secondly,the joint angular velocity of the known terminal effector speed tracking is solved by using the zero space equation and the Jacobi equation,and the spatial 6DOF three-bar rigid manipulator system is simulated with the initial error and disturbance torque.The system can still track the given end velocity with good accuracy,and eliminate the matrix attitude disturbance in the process tracking,which verifies the feasibility of the zero-space programming method.Then,for the system with known manipulator dynamic model,the nonlinear system is linearized by the computational moment method,the tracking error is controlled by the computational moment,and the global compensation controller for modeling error and interference is designed by using the radial basis function network.The method is used to simulate the spatial 6DOF three-bar manipulator system based on the precise dynamic model PD controller,and the simulation results are compared to verify the accuracy and fast convergence ability of the tracking control method.The control method can also keep the matrix interference attitude zero while tracking the control,which improves the matrix safety.Finally,under the premise that the system dynamics model is unknown,the fuzzy celebellar model articulation controller network is used to approximate the unknown matrix items in the model,and the joint tracking control is carried out,and the robust compensation term is introduced to maintain the consistency of the control system.By using this method and PI control to simulate the planar 3DOF three-bar rigid manipulator system,it is proved that the tracking control method can converge and approach the unknown term quickly when the dynamic model of the system is unknown,at the same time,it can eliminate the tracking error more accurately and quickly,and ensure the zero disturbance of matrix attitude while achieving good tracking effect.In summary,this paper will study a series of problems of modeling,trajectory planning and control of space manipulator system,and put forward the related planning and intelligent control methods,which will provide theoretical reference for engineering application.