Parametric sensitivity and control of on-orbit manipulators during impacts using the Centre of Percussion concept

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• 作者：Iosif S. Paraskevas ^{isparas@mail.ntua.gr" class="auth_mail" title="E-mail the corresponding author} ; Evangelos G. Papadopoulos ; ^{egpapado@central.ntua.gr" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Space robots ; Centre of percussion ; Control method during impacts ; Impact reactions compensation
• 刊名：Control Engineering Practice
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：47
• 期：Complete
• 页码：48-59
• 全文大小：1049 K

文摘

During capture of a free-flying object, a robotic servicer can be subject to impacts, which may separate it from the object or damage crucial subsystems. However, the reactions can be minimized using the Centre of Percussion (CoP) concept. Following a brief introduction of the two- and three-dimensional cases, the performance of a robot under impact is assessed when the CoP concept is employed. The effects of the parametric uncertainties on manipulator joint reactions are studied. Α control method to compensate for the reaction forces is proposed. Implementation guidelines are discussed. Simulations of a planar space robot validate the analysis.