The Control Method of Force Loading of Robot on Load Transfer Mechanism of Space Station

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 装备制造技术研究室

	The Control Method of Force Loading of Robot on Load Transfer Mechanism of Space Station
	Xu ZG(徐志刚); Bai XL(白鑫林); Wang JY(王军义); Liu MY(刘明洋); Zhang X(张啸)
	2019
会议日期	July 16-19, 2019
会议地点	Edinburgh, United kingdom
关键词	Load transfer mechanism Force loading control Admittance controller Ground test
页码	518-523
英文摘要	when the robot loads force on space station transfer mechanism, there exist some issues such as unstable robot force control system, insufficient load accuracy, and long settling time. To solve these problems, a strategy for adjusting the admittance controller parameters adaptively is proposed. Firstly, the relationship between force and position is established according to the admittance control theory. And a force tracking/force loading controller based on the rectangular coordinate system is initially designed. Then, the parameters of the load transfer mechanism model are identified based on the loading experiment data by the least square method, and the relationship between force and position of robot in specific workspace is established. Finally, the parameters of the admittance controller are adaptively adjusted to make the robot dynamics model approximately match with the dynamic model of the load transfer mechanism. The real-time spatial loading force imposed by the robot on the end of the load transfer mechanism after spreading is realized. The experiment shows that the tracking error of the robot relative to the load transfer mechanism is less than 0.1 mm, and the loading force error is less than 1%, and the robot meets the requirement and provides a real equivalent space load for the space station transfer mechanism. © 2019 IEEE.
产权排序	1
会议录	2019 IEEE 15th International Conference on Control and Automation, ICCA 2019
会议录出版者	IEEE Computer Society
会议录出版地	Washington
语种	英语
ISSN号	1948-3449
ISBN号	978-1-7281-1164-3
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25953]
专题	沈阳自动化研究所_装备制造技术研究室
作者单位	Shenyang Institute of Automation, State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Xu ZG,Bai XL,Wang JY,et al. The Control Method of Force Loading of Robot on Load Transfer Mechanism of Space Station[C]. 见:. Edinburgh, United kingdom. July 16-19, 2019.