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首页> 外文期刊>Acta astronautica >A two-arm flexible space manipulator system for post-grasping manipulation operations of a passive target object
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A two-arm flexible space manipulator system for post-grasping manipulation operations of a passive target object

机译：一种双臂柔性空间机械系统，用于掌握被动目标对象的操作操作

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Space Manipulator Systems (SMSs) are complex systems made of a platform equipped with one or more deployable robotic arms and they will be playing a major role in future autonomous on-orbit missions. The latter may as well involve manipulation operations of the target object which needs to be moved from an initial configuration to a final one suitable for the specific task under consideration. In the present study, the mission being analyzed concerns the manipulation of a passive body by means of a flexible SMS after grasping operations have been performed. The dynamics model is derived in a three-dimensional context (non-linear formulation for the rigid-body motions and linear for the elastic dynamics). The SMS involved in the investigation has two actuated seven-degree of freedom arms. Furthermore, the modeling of the grasp constraint existing between the SMS end-effectors and the target object is a critical issue which is addressed in the present paper. A combination of Jacobian Transpose and Proportional-Derivative Control is synthesized to accomplish the desired mission goals. Numerical results proving the effectiveness of the proposed strategy are presented and discussed.
机译：空间机械手系统（SMS）是由配备一个或多个可部署机器人臂的平台制成的复杂系统，它们将在未来的自主轨道任务中发挥重要作用。后者也可以涉及需要从初始配置移动到适合于所考虑的特定任务的最终配置的目标对象的操纵操作。在本研究中，正在分析的使命涉及通过进行抓握操作之后通过灵活的SMS操纵被动体。动力学模型衍生在三维上下文中（用于刚体运动的非线性配方和弹性动力学的线性）。参与调查的短信有两个驱动的七度自由武器。此外，在SMS末端效应器和目标对象之间存在的掌握约束的建模是在本文中寻址的关键问题。合成雅可比转发和比例衍生物控制的组合，以实现所需的任务目标。提出和讨论了证明拟议策略的有效性的数值结果。

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