Study on Adaptive Variable Impedance Compliance Control Method for Spatially Dynamic Attachment Robot
To address the issue of buffer landing for maintenance tasks on spacecraft such as the space station,a spatially dynamic attachment robot was designed to achieve compliant attachment to target spacecraft under high-speed flight conditions.Based on a parallel-legged attachment robot,the kinematics and contact collision force models of the parallel legs were studied and established,and the relationship between joint motor output torque and end-effector contact force was revealed.To meet the control requirements for contact force and position during high-speed collisions,an a-daptive variable impedance compliant control method was designed.The low-disturbance compliant attachment in the microgravity environment of space was investigated with this method.Experimental results showed that,compared to the fixed impedance parameter control method,the adaptive varia-ble impedance compliant control method could effectively suppress the peak force generated during collisions,improve the smoothness of the dynamic attachment process,and achieve low-disturbance compliant attachment to the target object.
attachment robotadaptivelow disturbancepeak forcecompliant control
万方数据
维普
