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A Ground Experiment System of a Free-Floating Robot for Fine Manipulation : Un sistema di esperimento a terra per un robot libero di fluttuare per manipolazione fine, in: International Journal of Advanced Robotic Systems |
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General information |
| Author |
Liu, Houde; Liang, Bin; Xu, Wenfu; Di, Zhang; Wang, Xueqian |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
Robotic systems are expected to play an
increasingly important role in future space activities with
the development of space technology. One broad area of
application is in the servicing, construction and
maintenance of satellites and large space structures in
orbit. Fine manipulation technology is very important for
space robots to be able to perform these tasks, since it must
ensure safe and reliable interaction with objects or the
environment. In order to assure the task is accomplished
successfully, ground experimentations are required in
order to verify key planning and control algorithms before
the space robot is launched. In this paper, based on the
concept of a hybrid approach combining the mathematical
model with the physical model, a ground experiment
system is set up, which is composed of two industrial
robots, global and hand‐eye visual equipment, six‐axis
force/torquesensors, guide rail and four computers. Many
control approaches of fine manipulation, such as
compliance control, impedance control, hybrid
force/position control, intelligent control and so on, can be
verified using this system. As an example, a contour curves
tracking experiment based on the compliance control
strategy is performed. Experiment results show that the
ground system is very useful for verifying the dexterous
manipulation technology of space robots. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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