A False Leg Leveling Strategy for the Attitude Adjustment Mechanism of Solar Wing Docking
In order to fulfill the demands for rapid and precise attitude adjustment during the docking process of solar arrays,and to resolve the challenges associated with manual adjustment,this study proposes a leveling strategy,which can update the kinematic parameters of the AAM according to the ground leveling situation,uses the laser tracker to obtain the pose required for leveling,applies closed-loop joint position control based on kinematic inverse solution to realizing the leveling of the moving platform,avoids the false leg in the leveling process through implementation of the traditional outrigger lifting and leveling method,and realizes the automatic adjustment of the AAM from the state of the outrigger stowed away to the state of touching the ground as support and then to the state that the moving platform is automatically adjusted to the horizontal plane level.The feasibility of the leveling strategy is verified through simulation,which provides a solution to false leg-leveling in the engineering application of AAM during solar wing docking.
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