Changchun Institute of Optics,Fine Mechanics and Physics,CAS
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 |
推荐引用方式 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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