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Hand-eye servo and impedance control for manipulator arm to capture target satellite safely

Published online by Cambridge University Press:  17 March 2014

Gan Ma ,
Zhihong Jiang ,
Hui Li ,
Junyao Gao ,
Zhangguo Yu ,
Xuechao Chen ,
Yun-Hui Liu  and
Qiang Huang
Gan Ma
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, P. R. China
Zhihong Jiang*
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, P. R. China
Hui Li
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, P. R. China
Junyao Gao
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, P. R. China
Zhangguo Yu
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, P. R. China
Xuechao Chen
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, P. R. China
Yun-Hui Liu
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. China The Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Sha Tin, N.T., Hong Kong
Qiang Huang
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. China Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, P. R. China Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, P. R. China
*
*Corresponding author. E-mail: jiangzhihong@bit.edu.cn
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Summary

A crucial problem is the risk that a manipulator arm would be damaged by twisting or bending during and after contacting a target satellite. This paper presents a solution to minimize the risk of damage to the arm and thereby enhance contact performance. First, a hand-eye servo controller is proposed as a method for accurately tracking and capturing a target satellite. Next, a motion planning strategy is employed to obtain the best-fit contacting moments. Also, an impedance control law is implemented to increase protection during operation and to ensure more accurate compliance. Finally, to overcome the challenge of verifying algorithms for a space manipulator while on the ground, a novel experimental system with a 6-DOF (degree of freedom) manipulator on a chaser field robot is presented and implemented to capture a target field robot; the proposed methods are then validated using the experimental platform.

Keywords

Hand-eye servoImpedance controlSafeSatellite captureSpace robot
Type
Articles
Information
Robotica , Volume 33 , Issue 4 , May 2015 , pp. 848 - 864
Copyright
Copyright © Cambridge University Press 2014 

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