Local Autonomous Capture Strategy for a Space Snare Interface
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, during space capture process, big position error and escaping velocity between the end effector and the target object would exist even when the manipulator is pre-located. To solve this problem, a typical kind of flexible interface fit for space capture application is introduced to improve the capture ability of the end effector. Moreover, a visual based 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. Meanwhile, a sliding mode controller based on the fuzzy switching gain is designed to suppress the disturbance by unknown extern force. Experiments show that the proposed strategy can improve the autonomous capture ability of the large end effector.
snare interface capture strategy end effector on-orbit 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
重庆
英文
231-236
2011-01-21（万方平台首次上网日期，不代表论文的发表时间）