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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >Compliant Force Sensor-Less Capture of an Object in Orbit
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Compliant Force Sensor-Less Capture of an Object in Orbit

机译：符合轨道中对象的符合力传感器捕获

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摘要

Space robots have been proposed to perform several tasks in orbit, such as repairing, refueling, and assembly. All those activities require the robot to interact with external objects in a safe and compliant form to avoid high impact forces that may damage the robot's components or the object to manipulate. Impedance controllers have demonstrated to be a suitable approach to perform similar tasks in ground. Therefore, implementing and analyzing impedance-based techniques in space is also worthy of study. Not only that, but also, methods that can reduce the number of components, weight and complexity should be considered. This article proposes the use of the disturbance observer for the design of an impedance controller to perform a safe capture of a target satellite by a space robot. First, the observer aids in the determination of the contact force between the servicer and the target. Later, once the almost perfect match between the actual and estimated contact force is demonstrated, the estimated force is used as input for an impedance controller with trajectory tracking. The advantages of estimating the contact force instead of measuring it are also discussed in the document. The design of the impedance control is performed such that the capturing process is compliant and safe, and, thus, it can help to advance toward an autonomous capture of space objects. A simulation experiment was set up to evaluate the performance of the proposed method. The results demonstrate that the contact force is bounded and behaves smoothly in a spring-mass-damper-like manner, imposing a stable contact between the robot's end effector and the servicer's capturing spot.
机译：已经提出了空间机器人在轨道中执行若干任务，例如修理，加油和组装。所有这些活动都需要机器人以安全且柔顺的形式与外部对象交互，以避免可能损坏机器人组件或对象操纵的高冲击力。阻抗控制器已经证明是一种合适的方法来实现类似的任务。因此，在空间中实施和分析基于阻抗的技术也值得研究。不仅如此，还应考虑可以减少组件，重量和复杂性数量的方法。本文提出使用扰动观测器来设计阻抗控制器，以通过空间机器人执行目标卫星的安全捕获。首先，观察者有助于确定服务器和目标之间的接触力。后来，一旦证明了实际和估计接触力之间的几乎完美匹配，估计力用作具有轨迹跟踪的阻抗控制器的输入。在文件中还讨论了估计接触力而不是测量它的优点。执行阻抗控制的设计，使得捕获过程符合且安全，因此可以有助于朝向空间物体的自主捕获。建立了仿真实验以评估所提出的方法的性能。结果表明，接触力界定并以弹簧质量脉冲脉状的方式平稳地行使，凸起机器人的末端执行器和服务器捕获点之间的稳定接触。

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