motion tracking system and force/torque sensor for robot-airship facility

用于机器人飞艇设施的运动跟踪系统和力/扭矩传感器

• 批准号: 345351-2007
• 负责人: Sharf, Inna
• 金额: $ 2.29万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments - Category 1 (<$150,000)
• 财政年份: 2006
• 资助国家: 加拿大
• 起止时间: 2006-01-01 至 2007-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=326257
• 关键词: motion; tracking; system; force; torque

Over the past three years, the applicant has developed a new laboratory facility for conducting research on autonomous robotic capture of satellites and non-man-made objects in space. The main current application of this work is the use of the Space Shuttle Manipulator System to grapple a malfunctioning satellite. Future envisioned uses include in-orbit satellite servicing and removal of space debris. Space Agencies around the world have dedicated resources towards resolving problems associated with in-orbit satellite servicing in order to improve  the success rate of satellite launches and to extend the life of satellites currently in orbit. The aforementioned facility constructed at McGill includes a robotic arm on a track and a helium airhip to emulate a free-floating object in space. The latter is a novel concept proposed by the applicant for emulating the dynamics of objects in space in a standard environment of a laboratory. Ths airship is equipped with six propellers to allow it to translate and rotate. It also carries a grapple fixture---a small handle where the robot can grasp it. To date, the applicant and her research personnel have developed basic functionalities to allow the robot to follow a specified trajectory and to track a visual target mounted on the airship. The next phases of this research require the addition of two pieces of equipment to the facility: a sensor which would be mounted on the airship to measure its motion in the laboratory and a sensor, to be mounted at the robot tip which would  measure the forces and moments exerted on the airship during and after capture. With the integration of these two pieces of equipment, the applicant will be able to continue her research on developing motion planning and control strategies whereby the robot can automatically track the motion of the airship, determine a trajectory which would allow it to intercept the airship,  grasp it by the grapple fixture and to control the motion of the complete system after the capture.

在过去三年中，申请方开发了一个新的实验室设施，用于研究自动机器人捕获卫星和空间非人造物体。这项工作目前的主要应用是使用航天飞机机械手系统来抓住一颗故障卫星。未来设想的用途包括在轨卫星维修和清除空间碎片。世界各地的航天局都将资源专门用于解决与在轨卫星服务有关的问题，以提高卫星发射的成功率并延长目前在轨卫星的寿命。在麦吉尔建造的上述设施包括一个轨道上的机器人手臂和一个氦飞艇，以模拟太空中的自由漂浮物体。后者是申请人提出的用于在实验室的标准环境中模拟空间中物体的动态的新概念。这艘飞艇配备了六个螺旋桨，使它能够平移和旋转。到目前为止，申请人和她的研究人员已经开发出基本的功能，使机器人能够遵循指定的轨迹，并跟踪安装在飞艇上的视觉目标。这项研究的下一阶段需要在设施中增加两件设备：一个传感器，安装在飞艇上，在实验室中测量其运动，另一个传感器，安装在机器人尖端，测量捕获期间和捕获后施加在飞艇上的力和力矩。通过这两件设备的集成，申请人将能够继续其关于开发运动规划和控制策略的研究，由此机器人可以自动跟踪飞艇的运动，确定允许其拦截飞艇的轨迹，通过抓钩固定装置抓住飞艇，并在捕获后控制整个系统的运动。