[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Li et al., 2024 - Google Patents

Space dual-arm compliant capture control technology based on force/contact fusion

Li et al., 2024

View PDF
Document ID
7023886543920888835
Author
Li Z
Wang G
Wu H
Yan Y
Liu F
Publication year
Publication venue
International Conference on Optics, Electronics, and Communication Engineering (OECE 2024)

External Links

Snippet

Robot system is the key technology for the development of space on-orbit service technology. In view of the relative movement between the manipulator and the target during the capture process, the force sensor is used to obtain the interaction force and torque …
Continue reading at www.spiedigitallibrary.org (PDF) (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. micro adjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
    • B64G1/646—Docking or rendez-vous systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control

Similar Documents

Publication Publication Date Title
Ollero et al. The aeroarms project: Aerial robots with advanced manipulation capabilities for inspection and maintenance
Kim et al. Vision-guided aerial manipulation using a multirotor with a robotic arm
Moosavian et al. Free-flying robots in space: an overview of dynamics modeling, planning and control
Murotsu et al. Parameter identification of unknown object handled by free-flying space robot
Xu et al. The coordinated motion planning of a dual-arm space robot for target capturing
Gao et al. Autonomous multi-robot servicing for spacecraft operation extension
Wen-Fu et al. Study on trajectory planning of dual-arm space robot keeping the base stabilized
Yoshida et al. Control of space free-flying robot
Xu et al. Autonomous path planning and experiment study of free-floating space robot for target capturing
Flores-Abad et al. Force sensorless impedance control for a space robot to capture a satellite for on-orbit servicing
Xu et al. Modeling and planning of a space robot for capturing tumbling target by approaching the dynamic closest point
Hirano et al. Online path planning and compliance control of space robot for capturing tumbling large object
Abiko et al. Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty
Lai et al. An onboard-eye-to-hand visual servo and task coordination control for aerial manipulator based on a spherical model
Sah et al. Development of on-ground hardware in loop simulation facility for space robotics
Li et al. Space dual-arm compliant capture control technology based on force/contact fusion
Ikeda et al. Aerial manipulator control method based on generalized jacobian
Ling et al. A dynamic-model-based predictive controller for a novel pendulum-driven spherical robot
Larouche et al. Investigation of impedance controller for autonomous on-orbit servicing robot
Ejiri et al. Satellite berthing experiment with a two-armed space robot
Shi et al. Study on intelligent visual servoing of space robot for cooperative target capturing
Wenberg et al. Development of on-orbit assembly demonstrator in 3u cubesat form factor
Liang et al. A visual-based servo control method for space manipulator assisted docking
Zereik et al. Autonomous dual-arm mobile manipulator crew assistant for surface operations: force/vision-guided grasping
CN107967241B (en) Base disturbance calculation method of space free floating robot