Impact Estimation for Capturing a Target by a Space Robot
Impact Estimation for Capturing a Target by a Space Robot
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太空机器人捕获目标的影响估计
DOI：
10.7210/jrsj.13.242
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
Katsuhiko Yamada
中科院分区：
文献类型：
--
作者：
S. Yoshikawa;Katsuhiko Yamada
空间机器人在空间捕获目标时，不可避免地会对接触点产生冲击力。本文针对这种短接触时间的情况，提出了一种新的接触动力学建模方法。它推导方程来估计脉冲的接触力考虑的影响，关节刚度所代表的关节伺服。使用推导的方程，它表明，接触力的脉冲增加与关节刚度，而不管其姿态。数值仿真和硬件实验验证了该方法的有效性。
Capturing a target by a space robot in space inevitably causes impact forces on the contact points. This paper focuses on such a short contact period and proposes a new approach to model the contact dynamics. It derives equations to estimate the impulse of the contact forces considering the effects of the joint stiffness represented by the joint servo. Using the derived equations, it is shown that the impulse of the contact forces increases with the joint stiffness regardless of its posture. Numerical simulations and hardware experiments are given to validate the proposed approach.