Development and Experiment of Semi-Physical Simulation Platform for Space Manipulator

Area of Science:

• Robotics
• Aerospace Engineering
• Control Systems

Background:

• Existing microgravity simulation methods for space robotic arms are costly and time-consuming.
• Challenges include complex joint modeling, nonlinearity, and external disturbances in loading systems.

Purpose of the Study:

• To develop an efficient and cost-effective semi-physical simulation platform for space robotic arms.
• To improve control algorithms for robotic arms operating in diverse gravity environments.
• To analyze the factors influencing joint motor drive force in space robotic arms.

Main Methods:

• A hybrid simulation approach combining physical components for complex joints and model-based simulation for simpler parts.
• Implementation of a fractional-order linear active disturbance rejection control (FO-LADRC) algorithm.
• Optimization of controller parameters using an improved particle swarm optimization (IPSO) algorithm.

Main Results:

• The semi-physical platform effectively simulates different gravity environments and loading conditions.
• FO-LADRC demonstrated superior response speed and disturbance rejection compared to linear sliding mode control (SMC).
• Load torque was identified as the dominant factor affecting joint motor drive force, followed by radial force.

Conclusions:

• The developed semi-physical simulation platform offers a viable alternative to traditional methods for space robotic arm research.
• Fractional-order control significantly enhances the performance of robotic arm systems in dynamic environments.
• Understanding load torque and radial force is crucial for designing effective space robotic arm joint drives.