Integrated Contact and Non-contact Admittance Control for Spatial Envelope Capture Mechanism
A spatial envelope capture mechanism with closed-loop constraints is studied for motion modeling and integrated contact and non-contact admittance control.The capture mechanism has a controllable envelope structure,which can achieve flexible capture through multiple contacts with noncooperative targets.The explicit dynamic model and contact model of the spatial envelope type capture mechanism are provided.A unified form of non-contact and contact admittance control strategy is designed.This strategy adopts non-contact admittance control during the robot's approach to the target to reduce the contact force between the robotic arm and the target object for the first collision.During the target capture process,contact admittance control is used to reduce the number of collisions and obtain greater clamping contact force.Numerical simulations demonstrate the effectiveness of the proposed strategy.
Space capture mechanismAdmittance controlNon-contact admittance controlNon-cooperative target capture
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