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Contact dynamics and relative motion estimation of non-cooperative target with unilateral contact constraint

机译：具有单边接触约束的非合作目标的接触动力学和相对运动估计

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摘要

This paper investigates the contact dynamics and the relative motion estimation problems between the target and the end-effector during the post-capturing operation. The unilateral contact constraint is taken into consideration, and several innovative methods have been proposed to properly estimate the relative displacement and velocity between the target and the manipulator's end-effector. Firstly, the contacting dynamics is profoundly analyzed by introducing several friction models into the system. Secondly, a new dynamical model is proposed by adopting the extra degree-of-freedom method, where a mapping is established between the position of the target and three new geometrical parameters. The mapping is then generalized in this paper to properly describe the relative motion for non-prismatic target. Thirdly, by considering the target to be completely non-cooperative, a relative motion measuring and estimation algorithm is proposed based on the computer vision and feature matching principle. Finally, the proposed methods are validated by computer simulation. The simulation results show that the new dynamical model can correctly describe the relative sliding motion between the target and end-effector. It has also been proved that the relative motion measuring algorithm can efficiently extract all the motion information, including the generalized position, velocity and acceleration of all extra degrees of freedom. (C) 2020 Elsevier Masson SAS. All rights reserved.
机译：本文研究了捕获后操作过程中目标与末端执行器之间的接触动力学和相对运动估计问题。考虑到单边接触约束，并提出了几种创新方法来正确估计目标与机械手末端执行器之间的相对位移和速度。首先，通过将几种摩擦模型引入系统，深刻地分析了接触动力学。其次，通过采用额外的自由度方法，提出了一种新的动力学模型，该方法在目标位置和三个新的几何参数之间建立了映射。然后在本文中概括了映射关系，以正确描述非棱柱目标的相对运动。第三，考虑到目标是完全不合作的，提出了一种基于计算机视觉和特征匹配原理的相对运动测量与估计算法。最后，通过计算机仿真验证了所提出的方法。仿真结果表明，新的动力学模型可以正确描述目标与末端执行器之间的相对滑动。还证明了相对运动测量算法可以有效地提取所有运动信息，包括所有额外自由度的广义位置，速度和加速度。 （C）2020年Elsevier Masson SAS。版权所有。

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  • 来源
    《Aerospace science and technology》 |2020年第3期|105705.1-105705.12|共12页
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  • 作者单位

    Nanjing Univ Aeronaut & Astronaut Coll Astronaut Adv Space Technol Lab Nanjing 210016 Peoples R China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
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