| 自由飞行空间机器人电联试实验平台的研制 |
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| 引用本文： | 张延恒,孙汉旭,贠超,贾庆轩.自由飞行空间机器人电联试实验平台的研制[J].高技术通讯,2007,17(5):474-478. |
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| 作者姓名： | 张延恒 孙汉旭 贠超 贾庆轩 |
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| 作者单位： | 1. 北京航空航天大学机械工程及自动化学院,北京,100083
2. 北京邮电大学自动化学院,北京,100876 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 为检验自由飞行空间机器人(FFSR)系统各个部件电接口传递信息的正确性及系统在轨执行任务的能力,采用数值模拟方法,通过软硬件结合的方式建立了FFSR电联试实验平台.该平台主要由主控计算机、主机系统、虚拟关节、虚拟视觉等4个功能模块组成.在此平台基础上建立了基于视觉反馈的机械臂运动控制算法和电机三环控制模型.该平台可用于对实际FFSR系统的数值仿真.对电联试实验平台的测试结果表明,该平台能够很好地完成对实际机器人系统通讯能力的模拟测试及系统控制算法的仿真验证.
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| 关 键 词： | 自由飞行空间机器人 电联试 仿真实验平台 运动控制算法 |
| 收稿时间： | 2006-08-21 |
| 修稿时间： | 2006-08-21 |
Development of the united electric test platform for free flying space robot |
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| Zhang Yanheng,Sun Hanxu,Yun Chao,Jia Qingxuan.Development of the united electric test platform for free flying space robot[J].High Technology Letters,2007,17(5):474-478. |
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| Authors: | Zhang Yanheng Sun Hanxu Yun Chao Jia Qingxuan |
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| Affiliation: | 1School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083;2 Automation School, Beijing University of Post and Telecommunication, Beijing 100876 |
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| Abstract: | To verify the validity of communication between the free flying space robot system components and the task fulfillment capability of the free flying space robot system,an united electric test platform is built.The test platform,which are built by combining the hardware and software,includes four modules:central control computer,host computer,virtual joint and virtual vision.The robot motion control algorithm based on vision feedback and motor closed loop control model are also introduced in this paper.The testing results indicate that,for real robot system,this platform can accomplish the simulation test of the communication capability and control algorithm. |
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| Keywords: | free flying space robot united electric test simulated experiment platform motion control algorithm |
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