On the control of space free-flyers using multiple impedance control
On the control of space free-flyers using multiple impedance control
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DOI：
10.1109/robot.1997.620141
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发表时间：
1997-04
期刊：
影响因子：
--
通讯作者：
S. Moosavian;E. Papadopoulos
中科院分区：
文献类型：
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作者：
S. Moosavian;E. Papadopoulos
多阻抗控制（MIC）是一种新的算法，它对被操纵对象和所有协作机械手施加指定的阻抗。在本文中，MIC被应用到空间机器人系统中的机器人手臂，安装在一个自由飞行的基地，操纵对象。MIC的一般公式被扩展到包括臂和基座之间的动态耦合。结果表明，在MIC法下，所有参与的机械手，自由飞行器基地，和被操纵的对象表现出相同的指定阻抗行为。这保证了在执行操纵任务时系统操纵器和对象的良好跟踪。一个系统的两个合作的两个连杆机械手进行了模拟，其中一个远程中心遵守附加到第二端执行器。物体在枢转抓取条件下被抓取，即物体的平移和旋转运动都必须由末端执行器力控制。如仿真结果所示，MIC算法的响应是平滑的，即使在由于与障碍物碰撞而发生冲击的情况下。
Multiple impedance control (MIC) is a new algorithm which enforces a designated impedance on both a manipulated object, and all cooperating manipulators. In this paper, the MIC is applied to a space robotic system in which robotic arms, mounted on a free-flying-base, manipulate an object. The general formulation of the MIC is extended to include the dynamic coupling between the arms and the base. It is shown that under the MIC law, all participating manipulators, the free-flyer base, and the manipulated object exhibit the same designated impedance behavior. This guarantees good tracking of system manipulators and the object, in performing a manipulation task. A system of two cooperating two-link manipulators is simulated, in which a remote centre compliance is attached to the second end-effector. The object is grabbed with a pivoted grasp condition, i.e. both the translational and rotational motions of the object have to be controlled by end-effector forces. As simulation results show, the response of the MIC algorithm is smooth, even in the occurrence of an impact due to collision with an obstacle.