Chinese Journal of Intelligent Science and Technology ›› 2019, Vol. 1 ›› Issue (1): 52-61.doi: 10.11959/j.issn.2096-6652.201905

• Papers • Previous Articles     Next Articles

Dynamical modeling and intelligent control of space soft manipulator

Xiang ZHANG1,2,Hongwei LIU1(),Zhuoqun LIU2,Zhenguo YAN2,Xiaoqian CHEN1,Yiyong HUANG1   

  1. 1 National Innovation Institute of Defense Technology,Academy of Military Science,Beijing 100071,China
    2 College of Aerospace Science and Technology,National University of Defense Technology,Changsha 410073,China
  • Revised:2019-02-26 Online:2019-03-20 Published:2019-05-28
  • Supported by:
    The National Natural Science Foundation of China(11702320);Military Research Projects(JK20182A020256);Military Research Projects(JK20172A04234)

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Abstract:

Space intelligent soft manipulator shows a broad prospect in the application of on-orbit service,due to its lightweight,dexterity and foldability.In this paper,a design of a modular soft manipulator with omnidirectional drivers was proposed.The dynamical model of the proposed soft manipulator was developed based on the rigid-flexible coupling system dynamics.The detection and recognition algorithm for space non-cooperative objects was designed based on deep regression convolution neural network.Both the dynamical model and the algorithm are the foundation for the intelligent control of the soft manipulator.Moreover,an experiment system of the soft manipulator was designed and developed,and the autonomous motion control and the recognition algorithm were validated.

Key words: soft manipulator, on-orbit service, dynamical modeling, object detection and recognition, intelligent control

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