摘要
When the space robot captures a floating target, contact impact occurs inevitably and frequently between the manipulator hand and the target, which seriously impacts the position and attitude of the robot and grasping security. ＂Dynamic grasping area＂ is introduced to describe the collision process of manipulator grasping target, and grasping area control equation is established. By analyzing the impact of grasping control parameters, base and target mass on the grasping process and combining the life experience, it is found that if the product of speed control parameter and dB adjustment parameter is close to but smaller than the minimum grasping speed, collision impact in the grasping process could be reduced greatly, and then an ideal grasping strategy is proposed. Simulation results indicate that during the same period, the strategy grasping is superior to the accelerating grasping, in that the amplitude of impact force is reduced to 20%, and the attitude control torque is reduced to 15%, and the impact on the robot is eliminated significantly. The results would have important academic value and engineering significance.
When the space robot captures a floating target, contact impact occurs inevitably and frequently between the manipulator hand and the target, which seriously impacts the position and attitude of the robot and grasping security. ＂Dynamic grasping area＂ is introduced to describe the collision process of manipulator grasping target, and grasping area control equation is established. By analyzing the impact of grasping control parameters, base and target mass on the grasping process and combining the life experience, it is found that if the product of speed control parameter and dB adjustment parameter is close to but smaller than the minimum grasping speed, collision impact in the grasping process could be reduced greatly, and then an ideal grasping strategy is proposed. Simulation results indicate that during the same period, the strategy grasping is superior to the accelerating grasping, in that the amplitude of impact force is reduced to 20%, and the attitude control torque is reduced to 15%, and the impact on the robot is eliminated significantly. The results would have important academic value and engineering significance.
基金
Program for Innovative Research Team in University(IRT520)
CAST of China (20090703)
作者简介
Wei Cheng Born in 1983, Ph.D, lecturer. His main research interest is space robot dynamics and control. Corresponding author. Tel.： ＋86-451-86402079. E-mail address： marine_hit@ 126.comLiu Tianxi Born in 1987, M.S. student. His main research interest is spacecraft dynamics and control. E-mail： jimtianxi@ 163.comZhao Yang Born in 1968, he received Ph.D. degree from Harbin Institute of Technology and then became a teacher there. He is a professor and Ph.D. supervisor now. His main research interest is spacecraft dynamics and control. E-mail： yangzhao@hit.edu.cn
