›› 2019, Vol. 39 ›› Issue (4): 1-.doi: 10.16708/j.cnki.1000-758X.2019.0023

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Space robot capture collision force control method based on explicit force control

 FANG  Qun, CUI  Ming-Ming   

  1. School of Astronautics,Northwestern Polytechnical University,Xi′an 710072,China
  • Received:2018-11-26 Revised:2019-01-17 Online:2019-08-25 Published:2019-06-24

Abstract: Aiming at the collision force control problem of space robots in capturing floating targets, the dynamic model of the space robot′s catching target and the contact collision model with the target are established. The parameters such as the closing speed of the claw and the initial position of the target are analyzed. On the basis of this, the taskfirst inverse kinematics solution method is used to design the capture force control method based on explicit force control, the collision force control method based on external force control and the collision force based on explicit force control. The control method is compared and analyzed. The results show that the collision force control method based on the explicit force control can achieve the collision force control that meets the requirements of stationarity, and the required pedestal thrust and joint control torque are small.

Key words: space robot, taskfirst approach, collision model, external force control, contact collision control