Impedance control of multi-arm space robot for the capture of non-cooperative targets

• 作者: GE Dongming SHI Jixin SUN Guanghui ZOU Yuanjie
• 来源期刊: 系统工程与电子技术（英文版）
• 年，卷（期）: 2020,（5）
• 所属期刊栏目: CONTROL THEORY AND APPLICATION
• 页码范围: 1051-1061
• 页数: 11页
• 语种: 英文
• DOI: 10.23919/JSEE.2020.000079

摘要

Robotic systems are expected to play an increasingly important role in future space activities.The robotic on-orbital service,whose key is the capturing technology,becomes a research hot spot in recent years.This paper studies the dynamics modeling and impedance control of a multi-arm free-flying space robotic system capturing a non-cooperative target.Firstly,a control-oriented dynamics model is essential in control algorithm design and code realization.Unlike a numerical algorithm,an analytical approach is suggested.Using a general and a quasi-coordinate Lagrangian formulation,the kinematics and dynamics equations are derived.Then,an impedance control algorithm is developed which allows coordinated control of the multiple manipulators to capture a target.Through enforcing a reference impedance,end-effectors behave like a mass-damper-spring system fixed in inertial space in reaction to any contact force between the capture hands and the target.Meanwhile,the position and the attitude of the base are maintained stably by using gas jet thrusters to work against the manipulators' reaction.Finally,a simulation by using a space robot with two manipulators and a free-floating non-cooperative target is illustrated to verify the effectiveness of the proposed method.

作者信息

序号	姓名	单位	发文数	被引次数	H指数	G指数
1	GE Dongming		1	0	0.0	0.0
2	SUN Guanghui		1	0	0.0	0.0
3	ZOU Yuanjie		1	0	0.0	0.0
4	SHI Jixin		1	0	0.0	0.0