Dynamics, control and impedance matching for robotic capture of a non-cooperative satellite
Dynamics, control and impedance matching for robotic capture of a non-cooperative satellite
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DOI：
10.1163/156855304322758015
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发表时间：
2004-01
影响因子：
2
通讯作者：
Kazuya Yoshida;H. Nakanishi;H. Ueno;N. Inaba;T. Nishimaki;M. Oda
中科院分区：
文献类型：
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作者：
Kazuya Yoshida;H. Nakanishi;H. Ueno;N. Inaba;T. Nishimaki;M. Oda
为了捕获非合作目标，本文建立了漂浮在空间中的刚体之间的接触运动，并研究了动力学条件。在理论研究方面，引入虚质量的定义，对空间机器人无关节控制情况下的惯性特性进行建模。通过选择姿态，可以改变虚质量，但其变化可能很小。然后引入阻抗控制来实现大范围的阻抗特性。讨论了阻抗控制机器人的手与被动目标接近并碰撞时的阻抗匹配问题。特定的惯性特性，被称为阻抗匹配的虚拟质量，被定义为手的等效虚拟质量，使其与漂浮在空间中的目标产生阻抗匹配。实验采用两个机械臂作为追逐者和目标的运动模拟器。通过实验验证了阻抗匹配的概念，并演示了在目标推进器喷嘴锥内插入阻抗控制探头的策略。研究了当目标被探头推开时，阻抗匹配是否给出了判据。
In this paper, the contact motion between rigid bodies floating in space is formulated and dynamic conditions are investigated in order to capture a non-cooperative target. As for the theoretical investigation, the definition of the virtual mass is recalled to model the inertial property of a space robot for the case of no joint control. By selecting the posture, the virtual mass can be altered, but its variation may be minor. Then the impedance control is introduced to realize a wide range of impedance characteristics. Impedance matching is discussed for the case in which the hand of an impedance-controlled robot approached and collided with a passive target. The specific inertia property, referred to as Virtual-mass for Impedance Matching, is defined as an equivalent virtual mass of the hand that yields impedance matching with a target floating in space. Experiments are carried out using two robot manipulators as a motion simulator of chaser and target. Through the experiments, the concept of the impedance matching is verified and satellite capture is demonstrated using the strategy that an impedance controlled probe is inserted into the thruster nozzle cone of the target. Whether the impedance matching gives a criteria if the target is pushed away by the probe is investigated.