Abstract
Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging.In this study,a deformable end-effector is first designed based on the requirements for contacting the nutating target.A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed.The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness.Thus,an improvement of the tracking error transfor-mation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally,by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating tar-get.
基金项目
国家自然科学基金(1197207711672035)
NETL
NSTL
万方数据