Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control |
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| Authors: | Qiao Guanyu Gao Huibin Peng Cheng Gu Yingying Xu Zhenbang Xu Boqian |
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| Institution: | 1. Innovation Laboratory of Space Robot System,Space Robot Engineering Center, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, P.R.China;University of Chinese Academy of Sciences, Beijing 100039, P.R.China;2. Innovation Laboratory of Space Robot System,Space Robot Engineering Center, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, P.R.China |
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| Abstract: | To eliminate the load weight limit of carrier rockets and reduce the burden on support struc-tures,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 con-trol technology is necessary.A ground demonstration system is presented for in-orbit assembly focu-sing 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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| Keywords: | flexible force control gravity compensation ground demonstration system in-or-bit assembly manipulator six-dimensional force/torque sensor |
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