摘要
为实现空间机械臂在舱体表面爬行过程中机械臂末端与指定对接口的对接任务,设计了一种针对整体对接过程的控制策略。首先根据接触点的个数对可能出现的接触情况进行分类,然后根据六维力传感器传递的实时接触力数据进行接触力分析,确定不同接触力数据对应的不同对接情况,并针对不同类型的对接情况设计对应的对接控制策略。该整体控制策略简单明了,易于工程实现。
To achieve the task of docking between the end of the space manipulator and the surface of the cabin which occurred during the process of crawling,the control strategy for the whole docking process is designed.First,the possible docking situations are classified according to the number of contact points,then the real-time contact force data which are transferred by the six-dimensional force sensor are analyzed,and the different docking situations corresponded to the different contact force data are determined,at last the different docking control strategies for different docking situations are designed.This overall control strategy is simple and easy to achieve.
出处
《机电产品开发与创新》
2012年第1期1-3,共3页
Development & Innovation of Machinery & Electrical Products
基金
中央高校基本科研业务费专项资金资助(BUPT2011rc0026
2011PTB-00-11)
关键词
对接类型
接触力分析
控制策略
docking situations
contact force analysis
control strategy
