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Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control
Qiao, G.; H. Gao; C. Peng; Y. Gu; Z. Xu and B. Xu
2017
发表期刊High Technology Letters
卷号23期号:3
摘要To eliminate the load weight limit of carrier rockets and reduce the burden on support structures, in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules, which requires smooth operation of assembly robots, and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation, an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control, and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots. Copyright by HIGH TECHNOLOGY LETTERS PRESS.
收录类别sci ; ei
语种英语
文献类型期刊论文
条目标识符http://ir.ciomp.ac.cn/handle/181722/59159
专题中科院长春光机所知识产出
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GB/T 7714
Qiao, G.,H. Gao,C. Peng,et al. Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control[J]. High Technology Letters,2017,23(3).
APA Qiao, G.,H. Gao,C. Peng,Y. Gu,&Z. Xu and B. Xu.(2017).Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control.High Technology Letters,23(3).
MLA Qiao, G.,et al."Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control".High Technology Letters 23.3(2017).
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