The Impact Dynamics during the Space Robot Capturing an Object and the Post-Impact Control
During the space robot capture the free motion object process, the impact effect and post-impact active control of the object and space robot combined system are studied.The dynamical model of the space robot system is derived with Lagrange formula, the dynamical model of the free motion object is derived with the Newton-Euler method.Base on these models, the impact effect is calculated base on the momentum principle.After the successfully capture, the initial momentum of the object before the impact has a new distribution in the space robot and object combined system.This will cause the space robot and object combined system irregular motion, and then, the active post-impact control is used to adjust the space robot base attitude and the joint angle, whose purpose is to keep the stabilization of the space robot and object combined system.Finally, an active feedback post-impact control that achieve the space robot base attitude and joint angle control is proposed.The simulation results base on a planar motion model shows that the impact effect between the space robot and object is great without the active post-impact control, but the motion of the space robot base attitude and joint angle quickly go to the expected steady state through the active feedback post-impact control.By comparison of the two cases, the active control is necessary, and the control method should rapid response to reduce the impact effect for the post-impact control.
Dong Qiuhuang Chen Li
School of Mechanical Engineering andAutomationFuzhou UniversityFuzhou,Fujian,350108,China School of Mechanical Engineering and Automation Fuzhou University Fuzhou,Fujian,350108,China
国际会议
上海
英文
1-6
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）