双臂空间机器人球形外包络抓捕控制

In view of the object capture and control problem of a dual-arm space robot, a new spherical cage-based scheme for dual arms to capture moving objects was designed. Firstly, in order to avoid pushing away from the object when captured by the manipulator, a structure with a spherical cage of dual arms was designed to constrain the moving object geometrically and prevent the object escape. Secondly, the collision detection model and the accurate model of the cage contact and collision model were proposed according to the contact and collision conditions between the cage and the object. The friction between the spherical cage and the object was used to reduce the speed of the object and provide a safe capturing environment for the manipulator. Furthermore, a visual servo method was adopted to design the real-time expected trajectory of dual arms to capture moving objects, and a dual-arm coordination tracking control law based on inverse dynamics was developed. Finally, the closed-loop control system simulation experiments for capturing a moving cubic object by using the free-floating dual-arm space robot based on the spherical cage were carried out. The simulation results demonstrate the capturing effectiveness of the proposed control method based on a spherical cage.