Force Compliance Control of Multi-peg-in-hole Assembling by Space Robot Based on Dynamic Feedforward

doi:10.3901/JME.2019.04.207

Abstract

Abstract: Multi-peg-in-hole assembling and immobilization is the most commonly installation function of extravehicular mobile equipment, and the automatic docking is the key of Space robots replacing astronauts. Focusing on this problem, this paper analyses the special stress condition of multi-peg-in-hole structure, and proposes a suitable force compliance method. Then focusing on the special problem of robot control which is brought by micro-gravity environment, this paper uses a control method based on dynamics feedforward, and compensating the joint torque directly. Also it builds a mathematic model and mapping compensation value to current circle of motors, to speed up the response rate of robot joints, at last, the simulation experiments and micro-gravity experiments are presented to verify the effectiveness of proposed force compliance method. This method provides the basic technology of extravehicular mobile equipment assembling task for space robot, and also provides inspiring for other steady control manipulations of space robot.

Key words: dynamic feedforward, force compliance, motor model, multi-peg-in-hole assembling, space robot

CLC Number:

TP242

DONG Que, ZHANG Lijian, YI Wangmin, WAN Bile, MENG Shaohua, HU Ruiqin. Force Compliance Control of Multi-peg-in-hole Assembling by Space Robot Based on Dynamic Feedforward[J]. Journal of Mechanical Engineering, 2019, 55(4): 207-217.

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