Grasp strategy of space robot end-effector

详细信息    查看全文

• 作者：Qing-li Zhang^a ; ^{zql202qing@163.com} ; Feng-lei Ni^a ; Ying-yuan Zhu^a ; Zong-wu Xie^a ; Hong Liu^b
• 关键词：space robotics ; compliance force control ; interactive collision ; multi-sensor end-effector
• 刊名：Energy Procedia
• 出版年：2011
• 出版时间：2011
• 年：2011
• 卷：13
• 期：Complete
• 页码：6817-6825
• 全文大小：568 K

文摘

Space robots are required to work cooperatively in constructing space stations and maintaining the broken-down satellites. Therefore, space robot end-effector's interaction with target object is inevitable. The disturbance force produced by interactive collisions may induce the robot arm wobbling and distortion; moreover, it may also pop-up the target object, which will lead to the failure of capturing operation. In allusion to these problems, a space robot dynamic model was established firstly, and the kinematics and dynamics of the collisions between robot end-effector and target device were analyzed. Based on the analysis, an effective grasp strategy was proposed to weaken the disturbance force caused by interactive collisions. Using satellite on-orbit self-servicing manipulator and multi-sensor space robot end-effector designed by Harbin Institute of Technology (HIT), the strategy proposed was validated by three experiments on micro-gravity platform. Experimental results show that the strategy proposed is feasible and effective, compared with traditional grasp strategy; the maximum disturbance force is reduced from 85N to 15N.