基于显式力控制的空间机器人抓捕碰撞力控制方法

针对空间机器人抓捕漂浮目标过程中的碰撞力控制问题，建立了空间机器人抓捕目标的动力学模型及与目标接触的接触碰撞模型；分析了手爪闭合速度和目标初始位置等参数对碰撞过程的影响；在此基础上采用任务优先逆运动学求解方法，设计了基于显式力控制的抓捕接触碰撞力控制方法，并对基于外力控制的碰撞力控制方法和基于显式力控制的碰撞力控制方法进行对比分析。结果表明，基于显式力控制的目标抓捕接触碰撞力控制方法能够实现满足平稳性要求的碰撞力控制，且所需的基座推力和关节控制力矩较小。

Space robot capture collision force control method based on explicit force control

Aiming at the collision force control problem of space robots in capturing floating targets, the dynamic model of the space robot′s catching target and the contact collision model with the target are established. The parameters such as the closing speed of the claw and the initial position of the target are analyzed. On the basis of this, the task first inverse kinematics solution method is used to design the capture force control method based on explicit force control, the collision force control method based on external force control and the collision force based on explicit force control. The control method is compared and analyzed. The results show that the collision force control method based on the explicit force control can achieve the collision force control that meets the requirements of stationarity, and the required pedestal thrust and joint control torque are small.