Impedance-based contact control of a free-flying space robot with respect to coefficient of restitution
Impedance-based contact control of a free-flying space robot with respect to coefficient of restitution
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DOI：
10.1109/sii.2011.6147619
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
N. Uyama;Daichi Hirano;H. Nakanishi;K. Nagaoka;Kazuya Yoshida
中科院分区：
文献类型：
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作者：
N. Uyama;Daichi Hirano;H. Nakanishi;K. Nagaoka;Kazuya Yoshida
本文提出了一种基于阻抗的自由飞行空间机器人关于恢复系数的接触控制。由于没有任何物体在空间受到约束，因此必须谨慎处理轨道上两个物体之间的接触，以防止物体产生不希望的接触力和接触后的相对运动。针对这一问题，提出了一种基于恢复系数阻抗控制的自由飞行空间机器人接触控制方法。恢复系数被用作参考值来调整阻抗参数，并且通过动态考虑来制定恢复系数中包括阻抗参数和接触参数。以地面机械手实现阻抗控制，以固定墙壁为目标表面，进行了基础实验，验证了所提出的控制方法。实验结果表明，所提出的控制方法成功地控制了两个物体之间的恢复系数。
This paper presents an impedance-based contact control of a free-flying space robot with respect to the coefficient of restitution. Since no object is constrained in space, the contact between two objects in orbit must be treated carefully so as to prevent the objects from inducing undesired contact force and post-contact relative motion. As a solution to this issue, the authors propose a contact control method for a free-flying space robot based on the impedance control with respect to the coefficient of restitution. The coefficient of restitution is used as a reference value to tune the impedance parameters and is formulated through dynamic consideration to include both the impedance parameters and contact parameters in the coefficient of restitution. The fundamental experiment is conducted to verify the proposed control method, using a ground-based manipulator to realize the impedance control, and a fixed wall as a target surface. The experimental results showed that the proposed control method successfully controlled the coefficient of restitution between two bodies.