We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Hand-eye servo and impedance control for manipulator arm to capture target satellite safely.
- Authors
Ma, Gan; Jiang, Zhihong; Li, Hui; Gao, Junyao; Yu, Zhangguo; Chen, Xuechao; Liu, Yun-Hui; Huang, Qiang
- Abstract
A crucial problem is the risk that a manipulator arm would be damaged by twisting or bending during and after contacting a target satellite. This paper presents a solution to minimize the risk of damage to the arm and thereby enhance contact performance. First, a hand-eye servo controller is proposed as a method for accurately tracking and capturing a target satellite. Next, a motion planning strategy is employed to obtain the best-fit contacting moments. Also, an impedance control law is implemented to increase protection during operation and to ensure more accurate compliance. Finally, to overcome the challenge of verifying algorithms for a space manipulator while on the ground, a novel experimental system with a 6-DOF (degree of freedom) manipulator on a chaser field robot is presented and implemented to capture a target field robot; the proposed methods are then validated using the experimental platform.
- Subjects
MANIPULATORS (Machinery) -- Automatic control; IMPEDANCE control; METAPHYSICS; COMPUTER programming; MACHINE translating
- Publication
Robotica, 2015, Vol 33, Issue 4, p848
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S0263574714000587