Development of ground experiment system for space robot performing fine manipulation

摘要

Robotic systems are expected to play an increasingly important role in future space activities with the development of space technology. One broad area of application is in the servicing, construction, and maintenance of satellites and large space structures in orbit. Fine manipulation technology is very important for space robot to perform there tasks, since it must ensure safe and reliable interaction with objects or environment. In order to assure the task is accomplished successfully, ground experimentations are required for verifying key planning and control algorithms before the space robot is launched. In this paper, based on the concept of a hybrid approach combining the mathematical model with the physical model, a ground experiment system is set up, which is composed of two industrial robots, global and hand-eye visual equipments, six-axis force/momentum sensors, guide rail and four computers. Many control approaches of fine manipulation, such as compliance control, impedance control, hybrid force/position control, intelligent control, and so on, can be verified using this system. As an example, contour curves tracking experiment based on compliance control strategy is performed. Experiment results show that the ground system is very useful for verifying dexterous manipulation technology of space robot.