机器人2024，Vol.46Issue(3)：330-338,9.DOI:10.13973/j.cnki.robot.230275
基于力柔顺性的航天对接半物理仿真
Semi-physical Simulation of Space Docking Based on Force Compliance
摘要
Abstract
Aiming at the slow dynamic response and poor accuracy in the six-degree-of-freedom spatial docking semi-physical simulation,a force-compliance-based semi-physical simulation technology for series robot docking is proposed.The gravity compensation and the admittance control are integrated to simulate the real compliant docking motion by combining the robot and the mathematical model.The drive delay compensation is invoked to improve the system performance to meet the requirements of high accuracy,high degree of freedom,good sensor fusion,and fast dynamic response.The experimental results show that the proposed method enhances the external force perception accuracy of the robot,and at the same time improves the dynamic response speed and docking accuracy of the force-following compliant docking process.关键词
串联机器人/半物理仿真/重力补偿/驱动延迟补偿/导纳控制Key words
series robot/semi-physical simulation/gravity compensation/drive delay compensation/admittance control引用本文复制引用
罗睿,赵英杰,金辉,刘明洋,贺云..基于力柔顺性的航天对接半物理仿真[J].机器人,2024,46(3):330-338,9.基金项目
机器人学国家重点实验室重点项目(2023-Z17). （2023-Z17）
