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

Abstract

To address the extended development cycle, high costs, and maintenance difficulties associated with existing microgravity simulation methods, this study has developed a semi-physical simulation platform for robotic arms tailored to different gravity environments and loading conditions. The platform represents difficult-to-model joints as physical objects, while the easily modeled components are simulated based on principles of similarity. In response to the strong coupling, nonlinearity, and excess force disturbance issues in the electric variable load loading system, a fractional-order linear active disturbance rejection control algorithm was employed. The controller parameters were tuned using an improved particle swarm algorithm with modified weight coefficients, and experimental results demonstrate that a fractional-order linear active disturbance rejection control improves response speed and disturbance rejection performance compared to linear sliding mode control. The study investigated the differences in the drive force of joint motors in space robotic arms under varying gravity environments and loading conditions. Experimental results indicate that load torque is the primary influencing factor on joint motor drive force, while radial force serves as a secondary influencing factor. Additionally, when the axis of the joint motor is perpendicular to the ground, it can, to some extent, simulate microgravity conditions on the ground.

Keywords

• space manipulator
• semi-physical simulation
• fractional-order linear self-adaptive disturbance rejection
• motor driving force