| Qiao Guanyu （乔冠宇）,Gao Huibin,Peng Cheng,Gu Yingying,Xu Zhenbang,Xu Boqian.[J].高技术通讯(英文),2017,23(3):271~278 |
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| Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control |
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| DOI：10.3772/j.issn.1006-6748.2017.03.007 |
| 中文关键词: |
| 英文关键词: flexible force control, gravity compensation, ground demonstration system, in-orbit assembly, manipulator, six-dimensional force/torque sensor |
| 基金项目: |
| Author Name | Affiliation | | Qiao Guanyu （乔冠宇） | | | Gao Huibin | | | Peng Cheng | | | Gu Yingying | | | Xu Zhenbang | | | Xu Boqian | |
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| 中文摘要: |
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| 英文摘要: |
| To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules, which requires smooth operation of assembly robots, and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation, an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control, and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots. |
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