Force/Position Control for Dual-arm Space Robot Capturing Object

doi:10.16182/j.issn1004731x.joss.201702026

Abstract

Abstract: The dynamics control and simulation of dual-arm space robot capture object was studied. The dynamics model of space robot was derived by the second Lagrange equation, for the object capture process, the impact influence on space robot base and arm was calculated by momentum theory. For the space robot and object close-chain system after capturing, a force/position coordinate control algorithm was designed to control the system motion and object clamp force; the stability, reliability and safety of capture process would be ensured by the control algorithm. The simulation result based on the dynamics model and control algorithm was carried out. The result indicates the validity of above analysis.

Key words: dual-arm space robot, capture object, impact, close-chain system, force/position control

CLC Number:

TP391.9

Dong Qiuhuang, Chen Li, Li Haiyun, Chen Zhiyong. Force/Position Control for Dual-arm Space Robot Capturing Object[J]. Journal of System Simulation, 2017, 29(2): 424-429.

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