On-board real-time singularity detection for large-scale 7-DOF space manipulator

According to the characteristic of large space manipulator, an on-board real-time singularity detection design is proposed. On the basis of forward and inverse kinematics calculation, the forward and inverse power method is applied to obtain the singularity by iterative computation. Firstly, the 7-DOF manipulator kinematics model is described and analyzed, and the main computational process is presented; then, the pseudo inverse of Jacob matrix is obtained, and condition number is deduced by power method; at last, the real-time singularity detection module is designed based on FPGA, and multi-processing unit is used to accelerate the calculating speed, which costs milliseconds. The on-board real-time singularity detection, eliminates the delay of interaction between spacecraft and ground, and reduces the risk of damnification in movement process. Compared with the previous methods, the proposed can guarantee the autonomous operation of space manipulator.