机器人化月表采样器控制系统研究

在未来的深空探测任务中迫切需要采样任务的机器人化。为突破这一关键的技术,我们研制了一台六自由度的机器人化月表采样器原理样机,为其选择合理的控制方式并搭建了一套基于CAN总线的分布式控制系统。本文将详细介绍该机器人化月表采样器的工作原理及其控制系统的基本结构,并将阐述在操作采样器执行采样任务时采用的控制方式。最后搭建试验平台进行采样试验,验证采样器和控制系统的基本功能及其有效性。

Robotic sample acquisition is considered as a pressing need in the future deep space exploration mission.We have developed a six degree of freedom robotic prototype sampler for breakthroughs in this key technology,constructed a distributed control system based on CAN bus and proposed a reasonable control method that is suit for the sampler.This paper introduces the sampler in both working principle and control system structure in detail,moreover,the control methed is formulated to opertate the sampler to ex...