Research on the Automatic Exchange Technology for Space Robot Manipulators

Author

Qiu Ying ; Fang Ce

Author_Institution

Coll. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin, China

fYear

2010

fDate

7-9 Nov. 2010

Firstpage

1

Lastpage

4

Abstract

An automatic exchange device for manipulators is proposed based on multi-sensor considering the application background of the space robot in this paper. A micro-regulator is installed in the robot´s wrist. Rough positioning with vision guiding, precise positioning by optical guiding, posture adjustment and active-passive hybrid compliant control strategy are used in docking. Both geometric constraint and mechanical constraint in normal docking are met during the process of automatic exchange for robot manipulator. The reliability of the work is confirmed.

Keywords

aerospace robotics; manipulators; reliability; sensor fusion; active-passive hybrid compliant control strategy; automatic exchange technology; geometric constraint; mechanical constraint; multisensor; optical guiding; posture adjustment; precise positioning; reliability; rough positioning; space robot; space robot manipulators; vision guiding; Fasteners; Force; Libraries; Manipulators; Robot sensing systems; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

E-Product E-Service and E-Entertainment (ICEEE), 2010 International Conference on

Conference_Location

Henan

Print_ISBN

978-1-4244-7159-1

Type

conf

DOI

10.1109/ICEEE.2010.5661371

Filename

5661371