CONFERENCE PROCEEDINGS
Advanced Search
Home > Proceedings > Volume 12254 > Article
Paper
23 May 2022 Contact force minimization strategy for space floating manipulator
He Cai, Songbo Deng, Qu Wang, Zhihong Chen, Yanbo Wang
Author Affiliations +
Proceedings Volume 12254, International Conference on Electronic Information Technology (EIT 2022); 122540E (2022) https://doi.org/10.1117/12.2640132
Event: International Conference on Electronic Information Technology (EIT 2022), 2022, Chengdu, China
Abstract
When a space manipulator captures an object in orbit, the excess contact force during collision causes the uncontrollable vibration of the manipulator and object. To devise a strategy for reducing this vibration, this paper leverages the multiple configurations of a redundant manipulator and seeks to identify the optimal configuration and contact direction based on the effective mass method. In this paper, a collision model is first established between the end effector and the object based on the continuous contact force method. Then, the peak force, maximum compression, and contact duration between the two bodies during the collision are obtained. For a certain task, the magnitude of the contact force only depends on the effective mass of the space manipulator. Hence, the mapping relationship between the effective mass and the configuration and contact direction of the space manipulator is established, and an ellipsoid is used to describe it. Accordingly, a contact force minimization strategy is designed. The optimal manipulator configuration and collision direction corresponding to the minimum contact force are obtained, and the correctness and effectiveness of the calculations are verified using MATLAB and Adams simulations.
© (2022) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation Download Citation
He Cai, Songbo Deng, Qu Wang, Zhihong Chen, and Yanbo Wang "Contact force minimization strategy for space floating manipulator", Proc. SPIE 12254, International Conference on Electronic Information Technology (EIT 2022), 122540E (23 May 2022); https://doi.org/10.1117/12.2640132
ACCESS THE FULL ARTICLE
ORGANIZATIONAL
Sign in with credentials provided by your organization.
INSTITUTIONAL
Select your institution to access the SPIE Digital Library.
SELECT YOUR INSTITUTION
PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.
PERSONAL SIGN IN
No SPIE Account? Create one
PURCHASE THIS CONTENT
SUBSCRIBE TO DIGITAL LIBRARY
50 downloads per 1-year subscription
Members: $195
Non-members: $335 ADD TO CART
25 downloads per 1 - year subscription
Members: $145
Non-members: $250 ADD TO CART
PURCHASE SINGLE ARTICLE
Includes PDF, HTML & Video, when available
Members: $17.00
Non-members: $21.00 ADD TO CART
PROCEEDINGS
 14 PAGES
DOWNLOAD PAPER SAVE TO MY LIBRARY
GET CITATION
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
MATLAB
Optical spheres
Mechanics
Space operations
Numerical simulations
RELATED CONTENT
Subscribe to Digital Library
Receive Erratum Email Alert
Back to Top