CN113778111B - Space teleoperation robot contact racemization stabilization method for eliminating operation deviation based on safety channel - Google Patents
Space teleoperation robot contact racemization stabilization method for eliminating operation deviation based on safety channel Download PDFInfo
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Abstract
The invention relates to a space teleoperation robot contact racemization stabilization method based on a safety channel for eliminating operation deviation. The invention can rapidly, safely and stably realize racemization stabilization of the target failure spacecraft, take over the failure spacecraft for the later on-orbit service platform, prepare for follow-up on-orbit service of capturing, cutting fault parts and the like, fully consider the possible actual operation conditions of position, contact force deviation and the like of human operation, and can well eliminate the influence by adopting the brush type contact racemization stabilization strategy.
Description
Technical Field
The invention belongs to the field of on-orbit service of space teleoperation robots, in particular relates to an auxiliary teleoperation means based on a virtual safety channel, and particularly relates to a contact racemization stabilizing method of a space teleoperation robot based on a safety channel and capable of eliminating operation deviation.
Background
In recent years, with the rapid development of space on-orbit service technology, the means of human touching the outer space are more and more abundant, the space work load of space assembly, on-orbit maintenance and the like of various spacecrafts is continuously increased, the complexity and diversity of the ex-warehouse inspection and control of the spacecrafts are increased, each aerospace country is occupied with required orbit resources, the service life of the spacecrafts is expired, and space garbage formed by failed emission is influenced to a certain extent on other on-orbit spacecrafts, and even threatens various newly-launched spacecrafts. In the face of space on-orbit service tasks, if the space on-orbit service tasks are completed by only relying on astronauts, the cost is huge, and the safety cannot be fully ensured. Therefore, using space robots to accomplish various types of space manipulation tasks is a trend in space exploration. However, due to the complexity of the space environment and the limitations of current robotics, it is not practical to rely entirely on space robots to accomplish various space tasks, and thus teleoperation techniques involving humans are currently becoming an important research point. The purpose of using space teleoperation techniques is mainly two: 1) The health and personal safety of astronauts can be protected; 2) The operation capability of the person can be expanded, and the task that the person cannot directly operate by hand can be assisted.
The main problem with space teleoperation technology is the time delay between the earth and the sky. For teleoperation with artificial intelligence participation, an operator sends a control command to a teleoperation object through interaction equipment, feedback information such as delayed vision, force sense and the like cannot provide real-time presence for the operator due to the existence of time delay, and the operation behavior of the operator is easy to mislead, so that the safe execution of a teleoperation task is influenced. By adopting the safety channel method based on the virtual clamp, the operation of a person can be well assisted, the operation feeling is enhanced, and the teleoperation safety is improved.
Meanwhile, another notable problem is that when the space teleoperation technology is used for carrying out the task of stabilizing the failed spacecraft in orbit, due to factors such as hand shake, large time delay of a space loop, limitation of a space mechanical arm, and the like, the situation of human operation deviation exists objectively, for example, the actual contact point deviates from the expected contact racemization position, and the direction of the contact force does not strictly carry out contact racemization according to the planned direction, the influence can cause failure of stabilizing the contact racemization based on the space teleoperation mode, and even spin of the target spacecraft can be accelerated. Therefore, there is a need to develop a safe, efficient and stable spatial on-orbit service technology.
The application of secure channels based on virtual fixtures in space teleoperation is an important means of space on-orbit services. The safety channel based on the virtual clamp refers to a group of general guiding modes realized in software, and abstract sensory information such as force sense, touch sense and the like generated under the virtual environment is fed back to a ground operator by limiting the movement area of the space robot (forbidden area virtual clamp) or enabling the space robot to move along a set track (guiding the virtual clamp), so that the human-machine cooperation system is assisted to complete tasks quickly and accurately. The application of the safety channel based on the virtual clamp in space teleoperation can enhance the operation presence and improve the safety and the operation performance of teleoperation.
Disclosure of Invention
In order to solve the defects of insufficient intelligence and overlong non-contact racemization stabilizing time of the existing space robot, a space teleoperation technology with participation of people is adopted, and meanwhile, the influence of operation deviation caused by hand shake and the like in the operation process is fully considered.
The technical scheme of the invention is as follows: the method for stabilizing the contact racemization of the space teleoperation robot based on the safe channel and eliminating the operation deviation is characterized by comprising the following steps:
step 1: establishing a failure target spacecraft attitude characteristic equation
Wherein H is a positive definite symmetric matrix and represents a moment of inertia matrix of the failure target spacecraft under a body coordinate system; omega= [ omega ] x ，ω y ，ω z ]The rotation angular velocity of each axis of the failure target spacecraft;
is the first derivative of ω; τ is the control moment; after the rotation angular velocity of each axis of the target spacecraft is obtained by the above method, the ground operator judges whether the rotation angular velocity is within the angular velocity range of 0-15 degrees/s; if yes, performing step 2, and if not, terminating the task;
step 2: establishing a secure channel based on a virtual fixture, comprising the sub-steps of:
step 2.1: the path function of the safety channel is established as follows:
Λ(l)＝α 0 +α 1 (l-x i )+α 2 (l-x i ) 2 +α 3 (l-x i ) 3 (2)
where Λ (l) represents the spacing [ x ] between the end of the space manipulator and the contact point on the solar wing of the failed spacecraft i ，x i+1 ]Wherein x is a distance function expression of (2) i And x i+1 Respectively representing the position coordinates of two adjacent points within the space; l represents a parameter in the distance function, typically a positive value; alpha 0 、α 1 、α 2 And respectively a set constant which can be deduced by calculation assuming that the position and velocity of the start and end points of the distance function are both 0, i.e
Can be obtained
Wherein, the liquid crystal display device comprises a liquid crystal display device,
Λ(x i ) Representing point x on a planned path i The function value of the position,
is a function Λ (x i ) X i And x i+1 Indicating points i and i+1 on the path;
step 2.1: according to the planned track, position coordinates at any moment are obtained, and meanwhile, the target track is kept as a straight line through attractive force or repulsive force;
step 3: brush contact racemization stabilization comprising the sub-steps of:
step 3.1: defining contact racemization points on solar wings of the failure spacecraft as symmetrical arrangement on two solar wings, wherein the number of the arrangement on each solar wing is the same; defining an origin O of XYZ coordinate axes as the center of the failed spacecraft body, wherein an X axis is the unfolding direction of the solar wing plate, a Y axis is the direction mutually perpendicular to the unfolded solar wing plate, and a Z axis is the direction mutually perpendicular to the X axis and the Y axis;
step 3.2: carrying out racemization operation on each shaft in turn, so that the angular speed of each shaft is reduced to be within a range of expected values; when the brush contacts the racemization point, the contact force is defined as F= [ F ] x ，f y ，f z ]The direction is vertical to the edge of the solar wing sailboard, and a brush type racemization stability control moment mathematical expression is established
Wherein τ is control output torque, r is the length of an acting force arm, and F is acting force; wherein F is to consider the actual contact deviation force, and the expression is:
the invention further adopts the technical scheme that: in the step 2, a cubic spline interpolation method is adopted to plan a track of a contact point on the tail end of a space manipulator and a solar wing sailboard of a failure target spacecraft, and a computer software technology is utilized to conduct graphic rendering and force rendering, so that a safety channel with force feedback for assisting human hand operation is designed.
The invention further adopts the technical scheme that: in the step 3.1, six points A, B, C, D, E and F are defined as contact racemization points on solar wings of the failure spacecraft, A, B, E is a contact racemization point on one solar wing, C, F, D is a contact racemization point on the other solar wing, wherein E and F are symmetrically arranged and are positioned at one half of the broadside of the solar span plate, A, C and B, D are symmetrically arranged and are respectively positioned at one third of the long side of the solar span plate.
The invention further adopts the technical scheme that: in the step 3.2, the stable racemization operation is carried out according to the sequence of X axis, Y axis and Z axis, so that the angular speed of each axis is reduced to be within 0.8 degrees/s.
Effects of the invention
The invention has the technical effects that: the invention aims at a failure spacecraft with a certain spin angular velocity, a control loop in a space teleoperation mode is adopted, a space mechanical arm with a hairbrush at the tail end is utilized to contact with a contact point on a solar wing of a target failure spacecraft for multiple times, the angular velocity of each shaft of the target failure spacecraft is reduced to a certain range, and in the operation process, a safety channel based on a virtual clamp is used for assisting a ground operator to control the space mechanical arm to contact the contact point on the solar wing, in particular:
according to the task planning of racemization stabilization, an on-orbit service platform provided with a space manipulator is hovered at a position 60m away from a target failure spacecraft, three-dimensional morphology reconstruction is carried out on the target, the pose state of the target is observed, a close-range approaching safe guide track is generated, and then the platform is automatically moved and approaches to a position near 0.5m away from the failure spacecraft, so that high-precision position maintenance is carried out. At this time, the brush attached to the end of the space manipulator acts, by means of the space robot system mounted on the on-orbit service platform, the ground operator starts to remotely operate at a distance of 0.5m from the target, with the aid of the safety channel based on the virtual clamp, the space manipulator carrying the brush is operated to contact the failed spacecraft for a plurality of times, the angular speed of each axis of the target failed spacecraft is reduced to the expected range by using the hard contact operation of the brush, and the operation preparation is performed for the following tasks such as capturing the spacecraft, cutting the fault part, taking over the failed target by the space robot, and the like. Meanwhile, in the whole operation process, the influence of the position deviation of an operator on the racemization contact point and the deviation of the contact force direction on the whole racemization stabilization task is fully considered, and the influence of the operation deviation can be well eliminated by adopting the technology of the invention.
Compared with the prior art, the invention has the following beneficial effects:
1) According to the operation tasks and the operation flow, aiming at the characteristic of auxiliary operation of the space manipulator in close-range safety guidance, the racemization stability of the target failure spacecraft can be rapidly, safely and stably realized, the failure spacecraft is taken over for a later on-orbit service platform, and preparation is made for follow-up on-orbit service of capturing, cutting fault parts and the like;
2) Compared with manual operation, the safety channel technology based on the virtual clamp is adopted, virtual guiding or limiting force generated by the safety channel technology is utilized, the safety channel is acted on the hand of a ground operator, and the safety channel is displayed, so that flexible and safe operation is brought to people, on one hand, under the influence of large time delay of a space loop, the safety channel based on the virtual clamp can assist the operation of the hand, and the tail end of the guiding space manipulator better approaches to a racemization contact point on a solar wing sailboard of a failure spacecraft; on the other hand, the operation of setting the safety channel on the operation path can also fully protect the space manipulator and the failure spacecraft from collision so as to prevent larger loss and more space garbage;
3) The brush type contact racemization stabilization strategy can well eliminate the influence by fully considering the actual operation conditions such as the position and contact force deviation possibly occurring in the operation of a person, and in addition, the intelligent performance of the person can be fully shown by the person in a space teleoperation mode of a loop, and the stable operability of the space mechanical arm can be utilized to mutually complement each other to complete the set task.
Drawings
FIG. 1 is a diagram of the operation of a secure channel under a CHAI 3d force rendering engine (starting point)
FIG. 2 is a diagram of the operation of a secure channel under a CHAI 3d force rendering engine (endpoint)
FIG. 3 is a graph showing the change in Z-direction position of an Agent in a secure channel
FIG. 4 is a graph showing the change in collision force between the Z direction of an Agent in a safety channel and the inner wall of the safety channel
FIG. 5 is a schematic view of a failed spacecraft body coordinate marked with contact points
FIG. 6 is a graph showing the operating deviation angle alpha - The following schematic diagram
FIG. 7 is a graph showing the operating deviation angle α + The following schematic diagram
FIG. 8 is a simulation of the contact racemization stability of a failed satellite at a 10 degree deviation, wherein (a) is the variation of the X axis, (b) is the variation of the Y axis, and (c) is the variation of the Z axis; it can be seen that after about 5500s, the three-axis angular velocity of the target failed satellite falls within the desired controlled range of 0.8/s.
FIG. 9 is a simulation of the contact racemization stability of a failed satellite at 15℃bias, wherein (a) is the variation of the X-axis, (b) is the variation of the Y-axis, and (c) is the variation of the Z-axis; it can be seen that after approximately 6500 seconds, the three-axis angular velocity of the target failed satellite falls within the desired controlled range of 0.8/s.
Detailed Description
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1-9, the invention aims to research a safe channel auxiliary teleoperation technology based on a virtual clamp for a failed spacecraft with a certain rotation angular velocity, and provides a contact racemization stabilization method considering operation deviation according to the acquired position and spin angular velocity condition of the failed target spacecraft, and the method provides a basis for the subsequent research of taking over on-orbit services of the failed spacecraft and the like.
In order to achieve the above purpose, the technical scheme adopted by the invention comprises the following steps:
step one: establishing a failure target spacecraft attitude characteristic equation
Wherein H is a positive definite symmetric matrix representing the order of failureMarking a rotational inertia matrix of the spacecraft under a body coordinate system; omega= [ omega ] x ,ω y ,ω z ]The rotation angular velocity of each axis of the failure target spacecraft;
is the first derivative of ω; τ is the control moment;
after the rotation angular velocity of each axis of the target spacecraft is obtained by the formula (6), a ground operator judges whether the rotation angular velocity is within a controllable range (0-15 degrees/s in the embodiment) or not, and preparation is made for the follow-up use of the space manipulator carrying the hairbrush in close contact racemization.
Step two: establishing a secure channel based on a virtual fixture
Specifically, a cubic spline interpolation method is adopted to plan a track of a contact point on the tail end of a space manipulator and a solar wing sailboard of a failure target spacecraft, and a computer software technology is utilized to conduct graphic rendering (blue-green color in fig. 1 and 2 is a safety channel) and force rendering, so that a safety channel with force feedback for assisting human hand operation is designed.
First, the path function is
Λ(l)＝α 0 +α 1 (l-x i )+α 2 (l-x i ) 2 +α 3 (l-x i ) 3 (7)
Where Λ (l) represents the spacing [ x ] between the end of the space manipulator and the contact point on the solar wing of the failed spacecraft i ,x i+1 ]Wherein x is a distance function expression of (2) i And x i+1 Respectively representing the position coordinates of two adjacent points within the space; l represents a parameter in the distance function, typically a positive value; alpha 0 、α 1 、α 2 And respectively a set constant which can be deduced by calculation assuming that the position and velocity of the start and end points of the distance function are both 0, i.e
Can be obtained
Wherein, the liquid crystal display device comprises a liquid crystal display device,
Λ(x i ) Representing point x on a planned path i The function value of the position,
is a function Λ (x i ) X i And x i+1 Indicating points i and i +1 on the path.
Secondly, according to the planned path track, position coordinates at any moment can be obtained, force and picture rendering are carried out on the operation path at a local end through a computer software program, specifically, a CHAI 3d force rendering engine is utilized to display the tail end point of the space manipulator in a three-dimensional space by using a virtual sphere (in the invention, the virtual sphere is represented by an Agent) with force perception; at the same time, around the set path point, a series of grids with force feedback are used for enveloping the path point, when the Agent approaches or moves away, the operator can feel obvious attractive force or repulsive force, and the operator can be used for assisting the operation of the human hand.
Finally, the effectiveness of the algorithm is verified through computer simulation, as shown in fig. 1 and fig. 2, which are respectively the operation process of the movement of the tail end of the mechanical arm from the point a to the point C of the safety channel based on the virtual clamp when the operator is controlled to see, and fig. 3 and fig. 4 respectively show the change diagrams of the position of the Agent in the Z direction and the collision force with the channel.
As can be seen from fig. 1, under the software image and the force rendering engine Chai 3d, a secure channel with virtual boot force is constructed for the point from the start point a to the end point C; in the figure, the blue-green funnel type is a virtual safety channel, and the lower part is the virtual force applied to the tail end of the mechanical arm.
As can be seen from fig. 2, under the software image and the force rendering engine Chai 3d, a secure channel with virtual boot force is constructed for the point from the start point a to the end point C; in the figure, the blue-green funnel type is a virtual safety channel, and the lower part is the virtual force applied to the tail end of the mechanical arm.
As can be seen from fig. 3, the robot arm tip is subject to Z-direction position data within the safety tunnel.
As can be seen from fig. 4, the robot arm tip is subjected to Z-direction force data in the safety channel.
Step three: brush contact racemization stabilization
When a path point is planned and force rendering is completed to form a safety channel, an operator controls the space manipulator carrying the hairbrush to approach to a contact point on a solar wing sailboard of the failed spacecraft, as shown in fig. 5, six points A, B, C, D, E and F are contact racemization points on the solar wing of the failed spacecraft, and due to symmetry, only contact operations are actually performed on A, B and E points on one side. Selecting 6 racemization contact points on two sides of a solar wing of a failure satellite, wherein E and F are positioned at the midpoint position of the edge of a sailboard; A. b, C and D points are located 1/3 of the distance from the edge of the windsurfing board, respectively; r is the distance between the contact point and the satellite center coordinate point.
The method comprises the steps of analyzing the structure of the failure target spacecraft, wherein the three-axis angular velocity of the target body is mutually coupled, namely, after contacting with the contact point on the solar wing, if the angular velocity of the X axis is stabilized, the rotational angular velocities of the Y axis and the Z axis are influenced (the original point O position is positioned at the center of the failure satellite body), so that the method performs stable racemization operation according to the sequence of the X axis, the Y axis and the Z axis, namely, the angular velocity of the X axis is preferentially reduced to be within the range of an expected value (0.8 DEG/s), then the Y axis and finally the Z axis are sequentially carried out. Taking the contact point A as an example for racemization stabilization, when the brush vertically contacts the edge of the sailboard where the contact point A is positioned along the Y-axis direction, the contact force applied by the brush at the contact point A is F A ＝[0,f A ,0]The direction is vertical to the edge of the solar wing sailboard, and a brush type racemization stability control moment mathematical expression is established
Where τ is the control output torque, r is the length of the acting arm, and F is the acting force. As can be seen from equation (9), the brush will have an effect on the Z and X axes when it contacts the edges of the windsurfing board in the Y-axis direction and vertically, and can be used to stabilize the angular velocity in the Z and X axes.
Irrespective of the friction force between the brush and the windsurfing board, i.e. the force generated by the elastic force between the brush and the windsurfing board, i.e. the force generated by mutual extrusion, there is no friction force generated by relative trend, and in the actual operation, the applied contact force is not completely perpendicular to the edge of the windsurfing board due to shaking of the operator's hand, measurement errors, observation and other reasons, so that there is a component of the contact force on the axis other than the Y axis, as shown in FIG. 6 and FIG. 7, FIG. 6 is when the end of the manipulator controlled by the operator is not completely perpendicular to the edge of the solar windsurfing board, and has an alpha with the same - Schematic analysis of specific operational contact force at the offset angle; FIG. 7 is a view of the end of an operator controlled arm not fully in vertical contact with the edge of a solar panel and having an alpha with it + Schematic analysis of specific operational contact forces at offset angles.
The figure is a view from the side of the windsurfing board, i.e. from the negative X-axis direction, in which case the contact force F is deviated A ' 1 And F A ' 2 The deviation with an angle to the Y axis has components in the directions of the Y axis and the Z axis after force decomposition. In contrast to fig. 5 and the contact force, which are factors due to the elastic force, point a is responsible for not only weakening the angular velocity of the X axis, but also for the clockwise angular velocity of the Y axis to be stabilized at point a. The specific case analysis is as follows:
1) As shown in FIG. 6, the point A is (7.3, -1.8,1.18), the point B is (7.3, -1.8, -1.18), and the point E is (7.9, -1.8,0), and the contact force F is deviated A ' 1 (take F) A ' 1_x ＝4N，F A ' 1_y =4n and F A ' 1_z =6n,) has a deviation angle α from the windsurfing board - Consider the contact deflection force F A ' 1 ＝[0,f A1 sinα - ,-f A1 cosα - ]With a deviation of 10 DEGFor example, the goal is to stabilize the three-axis angular velocity of the failed spacecraft at (0.1,0.1,0.8) T Within the range of the angle/s, once every 50s contacts the sailboard, a moment is output, the contact time is 2s, the simulation time is 10000s, and the change of the angular speed of each shaft is shown in figure 8.
2) As shown in FIG. 7, the point A coordinates (7.3, -1.8,1.18), the point B coordinates (7.3, -1.8, -1.18), and the point E coordinates (7.9, -1.8,0) are shown, and the contact force F 'is deviated at this time' A2 (taking F' A1_x ＝6N，F' A1_y =6n and F' A1_z =8n,) has a deviation angle α from the windsurfing board + Consider the contact deflection force F' A2 ＝[0,-f A2 sinα + ,-f A2 cosα + ]Taking the deviation of 15 DEG as an example, the aim is to stabilize the three-axis angular velocity of the failed spacecraft at (0.1,0.1,0.8) T Within the range of the angle/s, once every 50s contacts the sailboard, a moment is output, the contact time is 2s, the simulation time is 10000s, and the change of the angular speed of each shaft is shown in figure 9.
According to simulation verification of the technical invention, the force feedback safety channel based on the constraint direction of the virtual clamp is adopted to assist the teleoperation system, the tail end of the space manipulator can be safely, quickly and stably guided to the vicinity of the failed target spacecraft, the whole operation process can enable an operator to feel good virtual feedback force, meanwhile, in the teleoperation mode, a person controls the space manipulator platform with the hairbrush to abut against the vicinity of the solar wing of the target spacecraft on the ground, the angular velocity position condition of the target spacecraft is observed, the three-axis angular velocity of the target spacecraft is stabilized to be within a desired value through contact moment according to the racemization stabilization sequence of X-axis, Y-axis and Z-axis, and the follow-up actions such as capturing are prepared.
The foregoing is merely illustrative of the embodiments of the present invention, and the scope of the present invention is not limited thereto, and any person skilled in the art will appreciate that modifications and substitutions are within the scope of the present invention, and the scope of the present invention is defined by the appended claims.
Claims (4)
1. The method for stabilizing the contact racemization of the space teleoperation robot based on the safe channel and eliminating the operation deviation is characterized by comprising the following steps:
step 1: establishing a failure target spacecraft attitude characteristic equation
Wherein H is a positive definite symmetric matrix and represents a moment of inertia matrix of the failure target spacecraft under a body coordinate system; omega= [ omega ] x ,ω y ,ω z ]The rotation angular velocity of each axis of the failure target spacecraft;
is the first derivative of ω; τ is the control moment; after the rotation angular velocity of each axis of the target spacecraft is obtained by the above method, the ground operator judges whether the rotation angular velocity is within the angular velocity range of 0-15 degrees/s; if yes, performing step 2, and if not, terminating the task;
step 2: establishing a secure channel based on a virtual fixture, comprising the sub-steps of:
step 2.1: the path function of the safety channel is established as follows:
Λ(l)＝α 0 +α 1 (l-x i )+α 2 (l-x i ) 2 +α 3 (l-x i ) 3 (2)
where Λ (l) represents the spacing [ x ] between the end of the space manipulator and the contact point on the solar wing of the failed spacecraft i ,x i+1 ]Wherein x is a distance function expression of (2) i And x i+1 Respectively representing the position coordinates of two adjacent points within the space; l represents a parameter in the distance function, typically a positive value; alpha 0 、α 1 、α 2 And respectively a set constant which can be deduced by calculation assuming that the position and velocity of the start and end points of the distance function are both 0, i.e
Can be obtained
Wherein p is i ＝Λ(x i ),
Λ(x i ) Representing point x on a planned path i Function value of the place->
Is a function Λ (x i ) X i And x i+1 Indicating points i and i+1 on the path;
step 2.1: according to the planned track, position coordinates at any moment are obtained, and meanwhile, the target track is kept as a straight line through attractive force or repulsive force;
step 3: brush contact racemization stabilization comprising the sub-steps of:
step 3.1: defining contact racemization points on solar wings of the failure spacecraft as symmetrical arrangement on two solar wings, wherein the number of the arrangement on each solar wing is the same; defining an origin O of XYZ coordinate axes as the center of the failed spacecraft body, wherein an X axis is the unfolding direction of the solar wing plate, a Y axis is the direction mutually perpendicular to the unfolded solar wing plate, and a Z axis is the direction mutually perpendicular to the X axis and the Y axis;
step 3.2: carrying out racemization operation on each shaft in turn, so that the angular speed of each shaft is reduced to be within a range of expected values; when the brush contacts the racemization point, the contact force is defined as F= [ F ] x ,f y ,f z ]The direction is vertical to the edge of the solar wing sailboard, and a brush type racemization stability control moment mathematical expression is established
Wherein τ is control output torque, r is the length of an acting force arm, and F is acting force; wherein F is to consider the actual contact deviation force, and the expression is:
2. the method for eliminating operation deviation of space teleoperation robot contact type racemization stabilization based on the safety channel as claimed in claim 1, wherein in the step 2, a cubic spline interpolation method is adopted to plan a track of a contact point between the tail end of a space manipulator and a solar panel of a failure target spacecraft, and graphic rendering and force rendering are carried out by utilizing a computer software technology, so that a safety channel with force feedback for assisting human hand operation is designed.
3. The method for touch racemization stabilization of a spatially teleoperated robot based on a safety channel for eliminating operational bias according to claim 1, wherein in the step 3.1, six points A, B, C, D, E and F are defined as touch racemization points on solar wing of the failed spacecraft, A, B, E is a touch racemization point on one solar wing, C, F, D is a touch racemization point on another solar wing, wherein E and F are symmetrically arranged at one half of the wide side of the solar wing plate, A, C and B, D are symmetrically arranged at one third of the long side of the solar wing plate, respectively.
4. The method for stabilizing racemization of a space teleoperation robot based on the elimination of operation deviation of safety channel according to claim 1, wherein in the step 3.2, the operation of stabilizing racemization is performed in the order of X-axis to Y-axis to Z-axis so that the angular velocity of each axis is reduced to within 0.8 °/s.
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