The invention discloses a self-adaptive gravity compensation method and system for a spacecraft unfolding mechanism, and the method comprises the steps: obtaining a rotation angle between a coordinate system of a movable part of the unfolding mechanism in a rotation plane and a vertical direction when a robot moves along with the unfolding mechanism, and obtaining the actual lifting force of a lifting point at the tail end of the robot; coordinates of the lifting points in the movable part coordinate system are obtained; based on the coordinates of the lifting points in the movable part coordinate system, the rotating angle of the movable part coordinate system in the rotating plane and the vertical direction and the actual lifting force of the lifting point at the tail end of the robot, the horizontal and vertical coordinate ratio of the gravity center of the movable part in the movable part coordinate system and the target lifting force to be applied by the robot are determined; and self-adaptive gravity compensation is carried out. According to the scheme, the ratio of the horizontal coordinate to the vertical coordinate of the gravity center of the movable part in the movable part coordinate system and the target lifting force to be applied by the robot can be accurately determined, and self-adaptive gravity compensation under the condition that the quality characteristics of the movable part are unknown is achieved.

    本申请公开了一种航天器展开机构自适应重力补偿方法和系统,该方法包括:当机器人跟随展开机构运动时,获取展开机构的活动部件坐标系在转动平面内与竖直方向的转角,以及获取机器人末端托举点的实际托举力;获取托举点在活动部件坐标系中的坐标;基于托举点在活动部件坐标系中的坐标、活动部件坐标系在转动平面内与竖直方向的转角和机器人末端托举点的实际托举力,确定活动部件重心在活动部件坐标系中的横纵坐标比值和机器人待施加的目标托举力大小,以进行自适应重力补偿。该方案能够精准地确定出活动部件重心在活动部件坐标系中的横纵坐标比值和机器人待施加的目标托举力大小,实现了活动部件质量特性未知条件下的自适应重力补偿。


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    Title :

    Self-adaptive gravity compensation method and system for spacecraft unfolding mechanism


    Additional title:

    航天器展开机构自适应重力补偿方法和系统


    Contributors:
    HU RUIQIN (author) / LIU GUANGTONG (author) / NIU CHI (author) / MENG FANWEI (author) / TIAN YUHAN (author) / FU HAO (author) / DONG QUE (author) / MENG SHAOHUA (author) / XIAO MINGRUI (author) / ZHANG QIAN (author)

    Publication date :

    2024-01-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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