Zhang Xiao, He Yun, Xu Zhigang, Jiang Zainan, Liu Yong, Feng Wenbo, Wu Junwu
Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China.
Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China.
Front Neurorobot. 2023 Jan 9;16:1099656. doi: 10.3389/fnbot.2022.1099656. eCollection 2022.
In general, the traditional spacecraft semi-physical docking tests include the evaluation of docking and separation performance. However, these tests often rely on "specific" equipment, such as specially designed actuators and fast-response hydraulic systems, to meet the stringent dynamic response requirements of semi-physical testing. In this paper, a novel docking test platform is designed based on a general-purpose industrial manipulator using 3-D force and 3-D torque sensors. Different from the traditional solution, this novel platform is well-assembled and cost-effective. Furthermore, an actuation delay compensation method is introduced to improve the performance. Finally, the proposed method is evaluated using simulations. The results show that the novel method is with promising performance in terms of actuation delay compensation.
一般来说，传统的航天器半物理对接试验包括对接和分离性能评估。然而，这些试验通常依赖于“特定”设备，如专门设计的执行器和快速响应液压系统，以满足半物理试验严格的动态响应要求。本文基于通用工业机械手，利用三维力和三维扭矩传感器设计了一种新型对接试验平台。与传统解决方案不同，该新型平台组装良好且成本效益高。此外，引入了一种驱动延迟补偿方法来提高性能。最后，通过仿真对所提方法进行了评估。结果表明，该新方法在驱动延迟补偿方面具有良好的性能。
