CAJ | 학술논문

针对7自由度空间机械臂在目标捕获过程中的应用，根据机械臂末端执行器与目标适配器导向插入过程中存在接触碰撞的特点，提出一种阻抗控制方法，将机械臂末端测量的反作用力和力矩转化为位置增量，从而提高机械臂的主动柔性。并建立MATLAB/ADAMS联合仿真模型进行仿真验证，利用ADAMS的碰撞模型模拟接触捕获时的力学过程。仿真结果表明，本文提出的阻抗控制方法可以减小机械臂末端作用力和关节的驱动力矩，补偿了机械臂位置控制的误差，从而保证了机械臂对目标的捕获精度。
침대7자유도공간궤계비재목표포획과정중적응용，근거궤계비말단집행기여목표괄배기도향삽입과정중존재접촉팽당적특점，제출일충조항공제방법，장궤계비말단측량적반작용력화력구전화위위치증량，종이제고궤계비적주동유성。병건립MATLAB/ADAMS연합방진모형진행방진험증，이용ADAMS적팽당모형모의접촉포획시적역학과정。방진결과표명，본문제출적조항공제방법가이감소궤계비말단작용력화관절적구동력구，보상료궤계비위치공제적오차，종이보증료궤계비대목표적포획정도。
For the target capture of a 7-DoF Space Robotic Arm , based on the feature of contacting and impacting between the End Effector and the Target Adapter , a method of impendence control was proposed to improve the active flexible of the arm .To verify the method , a combined simulation model was created using MATLAB/ADAMS, which could simulate the force process accurately .The results showed that the impendence control method proposed in this paper could decrease the end acting force and joint driving torque in contacting process , thus the Arm position control error was compensated and the target capturing precision assured.