If the manipulator velocity at capture is high, Δtps can be shortened to ensure that the joint displacements, θm, remain within limits. Some authors assume that the chaser can initiate the capture maneuver at a close-enough distance, where the target’s grapple fixture is within the chaser’s free-floating grasping range. In the proposed method, the robot can maintain the repeated impact by which the direction of the target’s linear velocity is constrained by controlling each contact point. To maintain the repeated impact, selection of the contact point on the target surface is a key parameter. 3. Calculate the confluence point Q of the arm and the target based on the arm’s end-effector position, lt, and θh.
Болка В Крака
Given 0 ≤ θh ≤ π/2, the dual-arm is controlled to simultaneously track the given path and close the gap distance between the end-effectors. In this paper, we propose a repeated impact-based detumbling and capture method by a dual-arm space robot. Therefore, this paper focuses on the capture of a cylindrical free-floating object, which can be approximately defined as a planar motion. That is, the dual-arm robot can enclose the target motion with uncertainties by dual arms, whereas the single-arm robot is risk for unexpected pushing-away or collision of uncertain debris without accurate parameter estimation. The capture strategy by a dual-arm robot can potentially allow unexpected pushing-away of the debris by impounding of the dual arm unlike a single-arm robot. Based on dvh, the desired joint velocity of the arm is introduced. T, the desired joint angle of the dual-arm, dϕ˙, can be calculated as follows.
5. Calculate the desired end-effector velocity dvh by using θh and the norm of the end-effector velocity. болка в горната част на ръката
. 1. Set the contact angle θp and tracking angle θh. Let the directional angle of the velocity of the end-effector to the target’s motion path lt be θh. ̄p allows the restraint of the target motion in a single-axial direction in ΣI. The unit vector of xP′ and yP′ are also eP′x and eP′y, respectively. That is, the relative translational velocity between the robot base and target is zero and each impact imparts a small relative velocity. The sequence is summarized in the following four steps, where it is assumed that the post-approaching state after the dual-arm robot is controlled to approach the target, so that the relative linear velocity becomes zero. The initial angular velocity of the target is ωt0, and the initial approaching velocities of the arm are 1vh and 2vh. Also, both the initial linear velocity of the relative motion and the initial angular velocity of the chaser are set to zero.
Un soutien agréable du pied
Un haut niveau de flexibilité
Practical Implementation on the Shift-Mass Sat 3U CubeSat
• The chaser base, arm’s link, and joint, and target are rigid. • Contact occurs between the arm’s end-effector (spherical tip) and target surface. Therefore, detumbling and capture of uncertain tumbling debris by a sequential or continuous control framework is a challenging technology. We propose a repeated impact-based control method for detumbling and capture of a spinning object by a dual-arm space robot in orbit. 1987) developed a forward and inverse kinematic model based on an initial determination of where the center of mass of the system is.