Research On Motion Configuration And Joint Control System Of Reconfigurable Manipulator

In recent years,with the continuous deepening of our country in the field of space exploration,space manipulators have played a vital role.They can assist astronauts in carrying out tasks or even replace dangerous tasks.They have become the focus of research for all parties at this stage.In order to meet the needs of various missions inside and outside the spacecraft cabin,and to solve the complex and diverse on-orbit maintenance of the space station,as well as the operation monitoring and component replacement outside the cabin,this article is based on a reconfigurable space manipulator module library,the configurations of arm for task and the motion control for arms were studied.Firstly,according to the characteristics of the modular system and the reconfigurable implementation,the functional manipulator module library was divided into functions according to the actual requirements of the space task,and the overall configuration of the structure was selected.Through the division of the module library and the analysis of the module connection conditions,the topological configuration principle was used to complete the manipulator configuration planning,and the commonly used representative configurations were selected from the results.The strength of the main load-supporting modules was determined according to the limit working conditions in the configuration,and provided an effective guarantee for future study.Then the typical task of space-screw replacement was taken as an example to carry out configuration evaluation.In order to realize the selection of the configuration,the working principle of the end operation module was analyzed,and the preliminary selection of the configuration of the manipulator was performed in combination with the task scenario.In order to compare the configuration performance,a preliminary configuration kinematics model was established and parameterized.The structure kinematics simulation was carried out in MATLAB.The Monte Carlo method was used to make sampling predictions of the structured workspace.The quintic polynomial interpolation method was used to plan the motion trajectory and analyze its motion parameters.The dynamic simulation analysis of the configuration was carried out with Adams software,and the characteristics of the comprehensive configuration were used to complete the configuration selection under typical tasks.Finally,the framework of the manipulator control system was established based on the typical task configuration,and the mathematical model of the control system was established using modern control theory.Combined with the characteristics of joint motion,the joint controller was designed.The ZN method combined with the genetic algorithm was used to optimize the joint controller control parameters.In combination with the crowd search algorithm,the situation during the parameter tuning of the system was analyzed,and it provided a more efficient control basis for recombinant manipulator configuration.