TY - GEN
T1 - Trajectory Planning Based on Dual Torque Feedforward Control for Robot Astronaut Safe Movement on Space Station
AU - Zhihong, Jiang
AU - Jiafeng, Xu
AU - Hui, Li
AU - Qiang, Huang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/14
Y1 - 2018/11/14
N2 - The robot astronaut is a multi-body dynamics system with multi-degrees of freedom, nonlinearity and strong coupling. Its motion control and operation target are in micro-gravity environment, in which the robot is in a natural floating state. On space station, the dynamics of the robot is influenced by the internal force, contact force, inertial force and joint friction. At this point, the collision between the robot and the space station due to movement will greatly influence the safety of the robot and may cause serious damage. In this paper, we propose a control strategy based on dynamics and force compliant dual feed forward torque compensation, which greatly eliminates the impact force during the collision and realizes the safe movement of the robot on space station. Simulation results validate the effectiveness of the control strategy.
AB - The robot astronaut is a multi-body dynamics system with multi-degrees of freedom, nonlinearity and strong coupling. Its motion control and operation target are in micro-gravity environment, in which the robot is in a natural floating state. On space station, the dynamics of the robot is influenced by the internal force, contact force, inertial force and joint friction. At this point, the collision between the robot and the space station due to movement will greatly influence the safety of the robot and may cause serious damage. In this paper, we propose a control strategy based on dynamics and force compliant dual feed forward torque compensation, which greatly eliminates the impact force during the collision and realizes the safe movement of the robot on space station. Simulation results validate the effectiveness of the control strategy.
UR - http://www.scopus.com/inward/record.url?scp=85059098136&partnerID=8YFLogxK
U2 - 10.1109/IISR.2018.8535762
DO - 10.1109/IISR.2018.8535762
M3 - Conference contribution
AN - SCOPUS:85059098136
T3 - 2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
SP - 13
EP - 18
BT - 2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 International Conference on Intelligence and Safety for Robotics, ISR 2018
Y2 - 24 August 2018 through 27 August 2018
ER -