Abstract
The space station manipulator does lots of tasks with contact force/torque on orbit. To ensure the safety of the space station and the manipulator, the contact force/torque of manipulator must be controlled. Based on analyzing typical tasks’ working flows and force control requirements, such as ORU (orbit replacement unit) changeout and dual arm collaborative payload transport, an impedance control method based on wrist 6 axis force/torque feedback is designed. For engineering implementation of the impedance control algorithm, the discretization method and impedance control parameters selection principle are also studied. To verify the compliance control algorithm, a ground experiment platform adopting industrial manipulators is developed. In order to eliminate the influence of gravity, a real-time gravity compensation algorithm is proposed. Then, the correctness of real-time gravity compensation and force compliance control algorithm is verified on the experiment platform. Finally, the ORU replacement and dual arm collaborative payload transport experiments are done. Experimental results show that the force compliance control method proposed in this paper can control the contact force and torque at the end of the manipulator when executing typical tasks.
Highlights
The space manipulator can complete on-orbit assembly, observation and inspection, fault module replacement, fuel filling, and other on-orbit work
Construction and maintenance experiences of the international space station show that the risk of astronaut extravehicular activities and work pressure is reduced, and the efficiency is improved at the same time by using space manipulators
This paper mainly studies the force compliance control method of ORU payload changeout and dual arm collaborative payload transport; the task flow of the above two tasks is analyzed in detail firstly
Summary
The space manipulator can complete on-orbit assembly, observation and inspection, fault module replacement, fuel filling, and other on-orbit work. Construction and maintenance experiences of the international space station show that the risk of astronaut extravehicular activities and work pressure is reduced, and the efficiency is improved at the same time by using space manipulators. The FMA (Force/Moment Accommodation Control) method is adopted to control contact force/torque for the SPDM (Special Purpose Dexterous Manipulator) on the international space station and the manipulator on the Orbital Express satellite [10, 11]. In this method, the manipulator’s control command is the end velocity in Cartesian space.
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