| 机器人动态受力感知及零重力运动模拟技术 |
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| 引用本文： | 胡瑞钦,孟少华,张成立,董悫,张立建.机器人动态受力感知及零重力运动模拟技术[J].宇航学报,2022,43(7):974-982. |
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| 作者姓名： | 胡瑞钦 孟少华 张成立 董悫 张立建 |
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| 作者单位： | 1. 北京卫星环境工程研究所，北京 100094；2. 北京市航天产品智能装配技术与装备工程技术研究中心，北京 100094 |
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| 基金项目： | 国防基础科研计划(JCKY2021203B037)； |
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| 摘 要： | 针对航天器在轨服务任务的地面零重力模拟需求，研究基于工业机器人的零重力运动模拟技术。建立基于BP神经网络的受力感知预测模型，该模型采用机器人末端姿态、加速度、角速度和角加速度作为输入层参数，采用机器人末端六维力传感器数据作为输出层参数，实现了对机器人末端负载的高精度动态受力感知。设计正交试验方法确定机器人的运动路径点进行样本数据采集，实现了受力感知预测模型对机器人全工作空间的覆盖。进一步，基于对机器人末端负载的受力感知数据，应用动力学理论计算负载在失重状态下的运动速度，并控制机器人执行相应的运动，实现了对机器人末端负载的零重力运动模拟。
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| 关 键 词： | 在轨服务 零重力模拟 BP神经网络 机器人控制 |
| 收稿时间： | 2021-10-16 |
Robot Dynamic Force Perception and Zero gravity Motion Simulation Technology |
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| HU Ruiqin,MENG Shaohua,ZHANG Chengli,DONG Que,ZHANG Lijian.Robot Dynamic Force Perception and Zero gravity Motion Simulation Technology[J].Journal of Astronautics,2022,43(7):974-982. |
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| Authors: | HU Ruiqin MENG Shaohua ZHANG Chengli DONG Que ZHANG Lijian |
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| Affiliation: | 1. Beijing Institute of Spacecraft Environment Engineering, Beijing 100094, China;2. Beijing Engineering Research Center of Intelligent Assembly Technology and Equipment for Aerospace Product, Beijing 100094, China |
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| Abstract: | Aiming at the requirements of ground zero gravity simulation for spacecraft on orbit servicing missions, the zero gravity motion simulation technology based on industrial robot is studied. A force perception prediction model based on BP neural network is established. The model uses the attitude, acceleration, angular velocity and angular acceleration of the robot end as the input layer parameters, and the six dimensional force sensor data of the robot end as the output layer parameters. The high precision dynamic force perception of the robot end load is realized. The orthogonal experiment method is designed to determine the motion path points of the robot for sample data acquisition, and the force perception prediction model is realized to cover the whole workspace of the robot. Furthermore, based on the force perception data of the end load of the robot, the dynamics theory is applied to calculate the motion speed of the load in the state of weightlessness, and the robot is controlled to perform the corresponding motion, and the zero gravity motion simulation of the end load of the robot is realized. |
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| Keywords: | On orbit servicing Zero gravity simulation BP neural network Robot control |
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