A Finite Time Compliant Capture Strateg for Dual-Arm Space Robot
A dual-arm space robot finite time compliant capture strategy for non-cooperative targets is pro-posed.Firstly,the end-effector dynamic model of generalized coordinates presented by end-effector pose de-gree of freedom based on the free-floating space manipulator is established.On the basis of this,a global fast non-singular terminal sliding mode controller has been designed to achieve the finite-time trajectory tracking control of the end-effector.Furthermore,a three-fingered end-gripper mechanism has been intro-duced and a sub-system dynamic model consists of the end-effector and the target has been established.Based on this model,a composite compliant grasping control strategy has been designed,which is based on the compliant control theory to resolve the compliant grasping control of the end-effector towards the target.The simulation results show that the compliant capture of a tumbling target by a dual-arm space manipula-tor can be achieved by the proposed control strategy.
Non-cooperative targetOn-orbit operationDual-arm space manipulatorFinite time con-trolCompliant grasp
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维普
