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To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.
To eliminate the load weight limit of carrier rockets and reduce the burden on support structures, in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules, which require smooth operation of assembly robots, and flexible force control A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force / torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation, an algorithm for flexible A ground transportation demonstration verifies accuracy and smoothness of flexible force control, and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.