Contacting Obstacle Avoidance Control for the Space Manipulator in Confined Space

被引：0

作者：

Shi, Shuaike ^{[1
]}

Chen, Gang ^{[1
]}

Jia, Qingxuan ^{[1
]}

Xia, Chuanjiang ^{[1
]}

机构：

[1] Beijing Univ Posts & Telecommun, Sch Automat, Beijing, Peoples R China

来源：

PROCEEDINGS OF THE 2018 13TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2018) | 2018年

基金：

中国国家自然科学基金;

关键词：

space manipulator; contact force; null-space; obstacle avoidance;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper proposed a contacting obstacle avoidance control method for space manipulator. Considering the situation in which one of the space manipulator's links contact with some other objects in workspace, this article analyzed the mapping relationship between the joint space and the task space of the manipulator, and then studied the method of controlling the contacting force based on the null-space. This method can effectively control the contacting force on the manipulator's link and performs the assigned task without being interrupted at the same time. Lastly numerical simulations were presented in the article to prove the correctness and the feasibility of this method.

引用

页码：1487 / 1491

页数：5