Comprehensive characterization method of fault-tolerant kinematics ability for space manipulator with joint locked failure

Li, Lanpu; Chen, Gang; Wang, Yifan; Fu, Yingzhuo

doi:10.1109/iciea48937.2020.9248251

Cited by 2 publications

(2 citation statements)

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“…(1) The robotic arm is an ideal robotic arm, which can achieve perfect tracking of a given position: X = X r (2) The difference between the expected position and the static position of the environment is regarded as a disturbance term: N = X e − X d…”

Section: Integral Adaptive Admittance Control Algorithmmentioning

confidence: 99%

“…The lightweight space manipulator not only meets the weight reduction needs of aerospace, but also has the characteristics of high load-to-weight ratio. It can make the space manipulator have a smaller inertial force when operating the space manipulator in space, thereby improving the response speed of the space manipulator [2][3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

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A Light Space Manipulator with High Load-to-Weight Ratio: System Development and Compliance Control

Chen

2021

Space Sci Technol

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In order to meet the requirements of the space environment for the lightweight and load capacity of the manipulator, this paper designs a lightweight space manipulator with a weight of 9.23 kg and a load of 2 kg. It adopts the EtherCAT communication protocol and has the characteristics of high load-to-weight ratio. In order to achieve constant force tracking under the condition of unknown environmental parameters, an integral adaptive admittance control method is proposed. The control law is expressed as a third-order linear system equation, the operating environment is equivalent to a spring model, and the control error transfer function is derived. The control performance under the step response is further analyzed. The simulation results show that the proposed integral adaptive admittance control method has better performance than the traditional method. It has no steady-state error, overcomes the problems caused by nonlinear discrete compensation, and can facilitate analysis in the frequency domain, realize parameter optimization, and improve calculation accuracy.

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Section: Integral Adaptive Admittance Control Algorithmmentioning

confidence: 99%