Force/Position Control for Dual-arm Space Robot Capturing Object

Authors

Qiuhuang Dong, 1. College of Mechanical and Electronic Engineering, Fujian Agriculture and Forestry University, Fuzhou 350002, China; ;
Chen Li, 2. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China;
Haiyun Li, 1. College of Mechanical and Electronic Engineering, Fujian Agriculture and Forestry University, Fuzhou 350002, China; ;
Zhiyong Chen, 2. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China;

Abstract

Abstract: The dynamics control and simulation of dual-arm space robot capture object was studied. The dynamics model of space robot was derived by the second Lagrange equation, for the object capture process, the impact influence on space robot base and arm was calculated by momentum theory. For the space robot and object close-chain system after capturing, a force/position coordinate control algorithm was designed to control the system motion and object clamp force; the stability, reliability and safety of capture process would be ensured by the control algorithm. The simulation result based on the dynamics model and control algorithm was carried out. The result indicates the validity of above analysis.

Recommended Citation

Dong, Qiuhuang; Li, Chen; Li, Haiyun; and Chen, Zhiyong (2020) "Force/Position Control for Dual-arm Space Robot Capturing Object," Journal of System Simulation: Vol. 29: Iss. 2, Article 26.
DOI: 10.16182/j.issn1004731x.joss.201702026
Available at: https://dc-china-simulation.researchcommons.org/journal/vol29/iss2/26

First Page

424

Revised Date

2016-01-10

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201702026

Last Page

429

CLC

TP391.9

Recommended Citation

Dong Qiuhuang, Chen Li, Li Haiyun, Chen Zhiyong. Force/Position Control for Dual-arm Space Robot Capturing Object[J]. Journal of System Simulation, 2017, 29(2): 424-429.

DOI

10.16182/j.issn1004731x.joss.201702026