Patent ID: 11938623
Assignee: SHENZHEN TECHNOLOGY UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 8:
9. A ground simulation method for an on-orbit manipulation of a space manipulator, wherein the ground simulation method comprises:
suspending a target object, such that the target object is in a suspension state;
acquiring attitude information of the target object in real time during a simulated on-orbit manipulation;
acquiring, based on the attitude information, rotation speeds of motors according to a reinforcement learning model, wherein the motors are configured to control an attitude of the target object; and
controlling, based on the rotation speeds, operation of the motors, to adjust the suspension state of the target object;
controlling the attitude of the target object by the motors, comprising:
suspending the target object through four said motors, and controlling an up-down position of each suspension point to adjust a deflection angle of the target object relative to XY axes; and
the ground simulation method further comprises: simulating the space manipulator with a dual-arm robot, and compensating a gravity of a manipulator of the dual-arm robot, the compensating the gravity comprising:
acquiring a gravity vector of a base of the dual-arm robot; acquiring a position vector of a centroid of each connecting rod relative to the base, wherein the connecting rod is configured to form the manipulator of the dual-arm robot; acquiring a gravity compensation value of each connecting rod based on a mass of the connecting rod, the gravity vector, and the position vector; accumulating all gravity compensation values to acquire a total gravity compensation value; and adjusting, based on the total gravity compensation value, an output torque of a motor for driving the manipulator of the dual-arm robot;
wherein the total gravity compensation value acquired by the acquiring the gravity compensation value of each connecting rod based on the mass of the connecting rod, the gravity vector, and the position vector, and the accumulating all the gravity compensation values is expressed as follows:
Mgc=Σ1n{bri}×{bg}(mi), wherein, m denotes a mass of an i-th connecting rod; bg denotes the gravity vector of the base of the dual-arm robot; bri denotes a position vector of a centroid of the i-th connecting rod relative to the base of the dual-arm robot; and Mgc denotes the total gravity compensation value.