Abstract
This paper proposes a coordinated hybrid force/position control strategy of robonaut performing object transfer operation. Firstly, the constraint relationships between robonaut and object are presented. Base on them, the unified dynamic model of the robonaut and object is established to design the hybrid force/position control method. The movement, the internal force and the external constraint force of the object are considered as the control targets of the control system. Finally, a MATLAB simulation of the robonaut performing object transfer task verifies the correctness and effectiveness of the proposed method. The results show that all the targets can be control accurately by using the method proposed in this paper. The presented control method can control both internal and external forces while maintaining control accuracy, which is a common control strategy.
Highlights
The complexity and difficulty of space missions increase alongside the deepening of human exploration about space
Due to the existence of redundant arms, its flexibility, operation ability, operating range and other aspects of performance are far better than single arm robot, and its coordination ability and control accuracy are significantly improved compared with the multi robot because of the existence of coupled torso
The internal force, the movement and the external constraint force of the object are considered as the control targets of the hybrid force/position control system
Summary
The complexity and difficulty of space missions increase alongside the deepening of human exploration about space. The position control strategy is difficult to meet the requirements of the interaction between the robot and the environment when the robonaut performs coordinated manipulation tasks. Albrichsfeld [7] analyzed the relationship in two robots holding a single object by introducing a concept of ‘virtual stick’, and they presented a symmetric non-master/slave hybrid position/force coordinated control scheme using the equations which derive from virtual stick. Some of the methods directly divide the object into two parts and fixed on the end of each manipulator In this way, a rather better simulation results can be obtained, but these methods are limited to theoretical analysis and are not suitable for practical operation. The point Oc , named as Fcw fcwT ncwT T w l, r, f
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