Equivalent Capture Strategy for a Space Netting Interface
During space capture process,because of the joints flexibility and the distortion of long tubular booms,high precision tracking and positioning performance of large space manipulator can hardly be achieved．As a result,it is difficult to realize successful capture．To solve this problem,a typical kind of netting interface fit for space capture application is introduced to improve the capture ability of the end effector． Moreover,an equivalent capture strategy is put forward to avoid the complicate modeling problem of the unknown correcting force that acts on the grapple of the target during capture process．The proposed strategy makes the complicate capture problem to be a simple position tracking problem．thus capture can be achieved even a relative velocity exit between the end effector and the target．Experiments show that the proposed strategy can improve the autonomous capture ability of the large end effector．
nrtting interface equivalent capture large end effector space capture
Dangyang Jie Fenglei Ni Yisong Tan Hong Liu Hegao Cai
State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001,China
国际会议
海口
英文
243-247
2011-02-22（万方平台首次上网日期，不代表论文的发表时间）