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A New Recursive Composite Adaptive Controller for Robot Manipulators

space(Science & technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

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The current feedforward compensation method for the cogging torque of permanent magnet synchronous motors 9

The current feedforward compensation method for the cogging ...

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9th IEEE International Conference on Cyber technology in Automation, Control and intelligent systems, CYBER 2019

作者： Xin, Liu Dong, Zhou Pei, Zhang Rui, Wang Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing100094 China

ISBN: (纸本)9781728107691

The cogging torque is the inherent characteristic of permanent motors with the cogging. The cogging torque reduces the stability of the motor, especially in the status of the low speed. A compensation method based on the current feedforward is proposed in terms with the function between the torque and Q-Current by the method of space Vector PWM of the permanent magnet synchronous motors. The relation equation between the cogging torque and the rotor angle is obtained by the experimental analysis. And then, the transfer function of the current closed-loop system is obtained by using the experiment data and the system identification method. The cogging torque compensation current is calculated by the forecast for the position of the rotor. The experiment results show that the presented method can effectively improve the stability of the motor speed. © 2019 IEEE.

关键词： Permanent magnets

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A Visual-based Servo Control Method for space Manipulator Assisted Docking 6

A Visual-based Servo Control Method for Space Manipulator As...

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6th IEEE Information technology and Mechatronics Engineering Conference, ITOEC 2022

作者： Liang, Changchun Wang, Rui Liu, Xin Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing100094 China

ISBN: (纸本)9781665431859

Focusing on task of space manipulator assisting docking, a visual-servo close loop control method is proposed, the full system simulation model established, and simulated in control-dynamics closed loop for verification, simulations results indicates that the relative position (orientation) can be adjusted under the proposed method in a smooth way, the method can be referenced by future manipulators tasks like OOS. © 2022 IEEE.

关键词： Manipulators

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The Experimental Adaptability Design and Verification of the space Station Manipulator's Joint 3

The Experimental Adaptability Design and Verification of the...

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3rd International Symposium on robotics and intelligent Manufacturing technology, ISRIMT 2021

作者： Li, Delun Zhang, Yun Wang, Kang Liu, Xin Zhang, Li Fan, Ning Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781665437189

The manipulator launched with the TianHe capsule is currently the most complex, intelligent, and integrated space intelligence system in China. It indicates that China has become the world's third country after Canada and Japan who has the ability to independently develop the space Station Manipulator. When designing the manipulator, we have to concern the space environment of vibration, vacuum, thermal and electromagnetic radiation in aerospace, and the joints must adapt to the space environment. By adopting a series of methods of multi-point compression, solid silicate bonded MoS2 known as PM5, a combining of active thermal control and passive thermal control, the problem of environmental adaptability is solved. The joint successfully passed the verification of mechanical test, thermal cycle test, thermal vacuum test and life test. The environmental adaptability design and verification of the joint can be used as a reference for joints and end effectors of space manipulator. © 2021 IEEE.

关键词： Manipulators

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Design and Verification of Mechatronics Angle Limit Device for Joint of space Station Manipulator 3

Design and Verification of Mechatronics Angle Limit Device f...

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3rd International Symposium on robotics and intelligent Manufacturing technology, ISRIMT 2021

作者： Zhang, Yun Li, Delun Wang, Kang Liu, Xin Chen, Ming Shi, Chunling Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781665437189

The Manipulator of the Tian Gong space Station has 7 joints. In order to complete the function and task of the manipulator, the rotation angle of each joint is greater than ±270°, which is much larger than the 360° motion range of general robots. In order to meet the requirements of joint rotation angle limit, a mechatronics angle limit device is designed, which has the functions of electrical limit and mechanical limit, and can meet the requirements of joint ±270° mechanical and electrical limit. The device has passed the functional experiment and life experiment, and is in good condition in on-orbit application, which has reference significance for realizing large angle limit of space robot joints. © 2021 IEEE.

关键词： Manipulators

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Post-capture angular momentum management of space robot with controllable damping joints 2

Post-capture angular momentum management of space robot with...

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2nd IEEE International Conference on Automation, Electronics and Electrical Engineering, AUTEEE 2019

作者： Jia, Chen Xia, Yongjian Chu, Ming Zhang, Xiaodong Space Robot Laboratory Automation School Beijing University of Posts and Telecommunications Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (数字)9781728150307

ISBN: (纸本)9781728150291

Aiming at the problems of combination instability and momentum wheel overrun caused by angular momentum transfer after capturing the target in orbit, a method of combination angular momentum management based on controllable electromagnetic damper at joint is proposed. Firstly, based on the Kane method, the combination dynamics equations of space robot base, manipulators with controllable damping joints and target spacecraft are established. Then the structural model of the electromagnetic damper is modeled and the output characteristics and parameters of the damper are studied by analytical calculation. Finally, the simulation of ADAMS verifies the effectiveness of this method in reducing the spin-axis angular momentum of the space combination. © 2019 IEEE.

关键词： Angular momentum

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Hole-Peg Assembly Strategy Based on Deep Reinforcement Learning 5th

Hole-Peg Assembly Strategy Based on Deep Reinforcement Learn...

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5th International Conference on Cognitive systems and Signal Processing, ICCSIP 2020

作者： Zhang, Xiaodong Ding, Pengchao Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST Beijing100086 China Institute of Technology Harbin Heilongjiang150001 China

ISBN: (纸本)9789811623356

Hole-peg assembly using robot is widely used to validate the abilities of autonomous assembly task. Currently, the autonomous assembly is mainly depended on the high precision of position, force measurement and the compliant control method. The assembly process is complicated and the ability in unknown situations is relatively low. In this paper, a kind of assembly strategy based on deep reinforcement learning is proposed using the TD3 reinforcement learning algorithm based on DDPG and an adaptive annealing guide is added into the exploration process which greatly accelerates the convergence rate of deep reinforcement learning. The assembly task can be finished by the intelligent agent based on the measurement information of force-moment and the pose. In this paper, the training and verification of assembly verification is realized on the V-rep simulation platform and the UR5 manipulator. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Reinforcement learning

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Design and Verification of Microgravity Simulation system for space Station Manipulator 3

Design and Verification of Microgravity Simulation System fo...

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3rd International Symposium on robotics and intelligent Manufacturing technology, ISRIMT 2021

作者： Chen, Ming Zeng, Lei Jin, Yan Zhu, Chao Zhang, Yun Zhang, Xinrui Beijing Key Laboratory of Space Intelligent Robot System Technology and Application Beijing Space Vehicle General Design Department Beijing China

ISBN: (纸本)9781665437189

According to the requirements of ground test task of space Station manipulator, a microgravity simulation system of space Station manipulator based on suspension method is designed and developed. The system is mainly composed of support system, constant tension system, two-dimensional followup system, pose measurement system and detection and analysis system. The simulation system has completed the ground test and ground verification of the space Station manipulator. At present, this manipulator has been successfully launched, and the space Station manipulator has successfully completed its mission to deploy on-orbit. The designed micro gravity simulation system of manipulator has good universality and expansibility, and can be applied to the ground test of other space manipulator products. © 2021 IEEE.

关键词： Microgravity

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Discrete Element Simulation of Durability for Bionic Wheels of Mars Rover 2

Discrete Element Simulation of Durability for Bionic Wheels ...

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2nd Spring International Conference on Defence technology, ICDT 2020

作者： Lin, Y.C. Yan, Y.P. Yuan, B.F. Liu, Y.F. Zou, M. Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application Institute of Spacecraft System Engineering CAST Beijing100094 China Key Laboratory for Bionics Engineering of Education Ministry Jilin University Changchun130022 China

Four kinds of bionic surfaces (convex, scale-like, ribbed and concave shape) for Mars rover wheels were designed to improve wheel durability. A discrete element wheel-soil simulation system was developed, and three-dimensional discrete element analysis and soil bin tests were conducted. The results show that the masses of the convex and scale-like forms increased by 5.4% and 17%, respectively, and that the tangential cumulative forces decreased by about 40% and 70%, respectively. The wear mass decreased by 53% and 47%, respectively, compared with a prototypical wheel. The simulation shows that the durability increased significantly. The average tangential cumulative forces of the concave and ribbed shapes increased by more than 50%, and the wear mass decreased by 35% and 32%, respectively, compared with a prototypical wheel. The simulation shows that the results were not definitive. The analysis shows that the durability of the wheels can be improved via bionic optimization method. These results therefore provide a basis and reference for the design and optimization of the Mars rover's wheel surface. © Published under licence by IOP Publishing Ltd.

关键词： Wheels

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Research of integration simulation system of space dual-arm robot

Research of integration simulation system of space dual-arm ...

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IEEE International Conference on robotics and Biomimetics, IEEE-ROBIO 2015

作者： Xiaodong, Zhang Yafang, Liu Yaobing, Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9781467396745

A set of integrated simulation system of space dual-arm robot is developed in the paper. Based on modular design concept, the system is composed of the communication module, task scheduling management module, path planning module, dynamic control module, 3D geometric model and collision detection module and the system uses C programming language and Visual Studio 2010 to realize the key algorithm while the entity model and the simulation scenarios are created by OSG (Open Scene Graph). Compared with other simulation methods, this method is stronger in visualization and post-processing, which can also realize closed-loop control of the key algorithm. Finally, the application simulations are implemented to verify the algorithms of coordinated space dual-arm robot by using this system. The results show the effectiveness of the system and verify the feasibility of mission planning. © 2015 IEEE.

关键词： Motion planning

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