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| Collision avoidance and compliant passive fuzzy control of space robot based on compliant mechanism capture a satellite |
| Received:July 03, 2019 Revised:October 17, 2019 |
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| DOI：10.7511/jslx20190703001 |
| KeyWord:compliant mechanism free-floating space robot capture satellite operations passivity theory collision avoidance and compliant control |
| Author | Institution |
| 艾海平 |
福州大学 机械工程及自动化学院, 福州 |
| 陈力 |
福州大学 机械工程及自动化学院, 福州 |
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| Abstract: |
| The problem of collision avoidance compliant control for a free-floating space robot to protect its joints due to impact in the process of capturing non-cooperative spacecraft is discussed.For this purpose,a Rotary Series Elastic Actuator (RSEA) is mounted between the joint motor and manipulator.Its functions are:first,the deformation of its internal spring can absorb and buffer the impact energy on the joints of the space robot caused by the captured spacecraft during the capture collision phase.Second,in the stabilization stage of post-capture,the joint impact torque can be limited to a safe range by combining the collision avoidance compliant control scheme.According to the Lagrange approach and Newton-Euler method,the system dynamics equation of space robot and the satellite are obtained.After that,based on the law of conservation of momentum,the constraints of kinematics and geometric constraints of the position,the integrated dynamic model of the composite system is derived.On that basis,in order to calm control of the post-capture unstable composite system,a collision avoidance compliant fuzzy control scheme based on passivity theory is proposed.Finally,the effectiveness of the proposed collision avoidance compliant control strategy is verified by simulation experiments. |
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