Name
Abstract | ||
|---|---|---|
The simulation of space microgravity environment is indispensable during the development of space robot since its performances should be examined and enhanced before sent into space. However, the existing methods, such as air flotation method, hanging wire method and buoyancy method, etc., are very expensive and complex. A low-cost microgravity simulating system is proposed in this paper. In this system, a horizontal adjusting mechanism is proposed to keep the robot moving in a horizontal plane; a gravity compensation mechanism is proposed to compensate the force and torque of gravity during the movement; furthermore, several flexible chains and climbing rods are designed to simulate astronauts' climbing outside space station freely, but the robot is very likely to vibrate during the movement, so a new hybrid force/position controller based on the joint servo-drive characteristics model is proposed to diminish this vibration. Experiment has been done on this system with a humanoid space robot and experimental results show that this system is very suitable for motion control study of space robot in microgravity condition and the proposed hybrid force/position controller is easy and valid. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ROBIO.2013.6739776 | ROBIO |
Keywords | Field | DocType |
humanoid space robot,air flotation method,motion control,servomechanisms,horizontal adjusting mechanism,low-cost microgravity simulating system,joint servo-drive characteristics model,gravity compensation mechanism,mobile robots,gravity,vibration,aerospace robotics,force control,microgravity condition,humanoid robots,space microgravity environment,hanging wire method,motion control study,hybrid force/position controller,space station,buoyancy method,compensation,force controller,horizontal plane,position control,climbing rod,astronaut climbing,flexible chain,buoyancy | Control theory,Motion control,Torque,Control theory,Simulation,Control engineering,Engineering,Vibration,Robot,Mobile robot,Horizontal plane,Humanoid robot | Conference |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shilong Liu | 1 | 6 | 1.14 |
| Zhihong Jiang | 2 | 6 | 4.88 |
| Hui Li | 3 | 8 | 5.28 |
| Qiang Huang | 4 | 266 | 91.95 |