TY - GEN
T1 - Open source modular simulation platform for space manipulator dynamics and control
AU - Wu, Chengjie
AU - Song, Jianmei
AU - She, Haoping
AU - Huang, Liangwei
N1 - Publisher Copyright:
© 2021 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2021/7/26
Y1 - 2021/7/26
N2 - Space manipulator is the main actuator of on-orbit service technology, and modeling accuracy, control and simulation analysis are the key to numerical experiments. The main problem of current manipulator control simulation method is that dynamic calculation and control simulation are separated, and the simulation program is not open source. Aiming at the control simulation problem of space manipulator, an open-source modular simulation model establishment and controller design platform is proposed to realize closed-loop dynamic calculation and control simulation. The platform is based on the open source multi-body dynamics calculation software MBDyn, which establishes a modular simulation model according to the task requirements to avoid complex mathematical modeling. The Xcos simulation communication interface is developed based on the open source scientific and engineering calculation software Scilab, it exchanges data with modularized controller to realize real-time joint control simulation. Taking a six-degree-of-freedom manipulator as an example, dynamics and control simulations were carried out, and the simulation results showed the effectiveness of the platform. It can be applied to a variety of multi-body dynamics control simulation schemes, open source and has good versatility.
AB - Space manipulator is the main actuator of on-orbit service technology, and modeling accuracy, control and simulation analysis are the key to numerical experiments. The main problem of current manipulator control simulation method is that dynamic calculation and control simulation are separated, and the simulation program is not open source. Aiming at the control simulation problem of space manipulator, an open-source modular simulation model establishment and controller design platform is proposed to realize closed-loop dynamic calculation and control simulation. The platform is based on the open source multi-body dynamics calculation software MBDyn, which establishes a modular simulation model according to the task requirements to avoid complex mathematical modeling. The Xcos simulation communication interface is developed based on the open source scientific and engineering calculation software Scilab, it exchanges data with modularized controller to realize real-time joint control simulation. Taking a six-degree-of-freedom manipulator as an example, dynamics and control simulations were carried out, and the simulation results showed the effectiveness of the platform. It can be applied to a variety of multi-body dynamics control simulation schemes, open source and has good versatility.
KW - MBDyn
KW - Scilab
KW - Space manipulator
KW - dynamics and control
KW - open source modular simulation platform
UR - http://www.scopus.com/inward/record.url?scp=85117298338&partnerID=8YFLogxK
U2 - 10.23919/CCC52363.2021.9550702
DO - 10.23919/CCC52363.2021.9550702
M3 - Conference contribution
AN - SCOPUS:85117298338
T3 - Chinese Control Conference, CCC
SP - 7652
EP - 7657
BT - Proceedings of the 40th Chinese Control Conference, CCC 2021
A2 - Peng, Chen
A2 - Sun, Jian
PB - IEEE Computer Society
T2 - 40th Chinese Control Conference, CCC 2021
Y2 - 26 July 2021 through 28 July 2021
ER -