Title :
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
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;
Conference_Titel :
E-Product E-Service and E-Entertainment (ICEEE), 2010 International Conference on
Conference_Location :
Henan
Print_ISBN :
978-1-4244-7159-1
DOI :
10.1109/ICEEE.2010.5661371
