论文标题
空间对接和机器人接近操作的混合模拟器
Hybrid Simulator for Space Docking and Robotic Proximity Operations
论文作者
论文摘要
在这项工作中，我们提出了用于太空对接和机器人接近操作方法的混合模拟器。该方法还允许使用实际机器人在复杂环境中运行的目标机器人模仿。仿真方案旨在复制目标机器人与环境相互作用的动态行为，而无需处理接触动力学的复杂计算。此方法构成了灵活空间机器人的任务验证的基础。实际的模拟机器人在结构上是刚性的，而目标机器人可以代表任何类别的机器人，例如柔性，冗余或空间机器人。尽管模拟机器人在动态上不等同于目标机器人，但可以使用此处开发的控制定律来实现动态相似性。彻底分析了干扰和执行动力学对机器人仿真的忠诚度和接触稳定性的影响。
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The emulation scheme aims to replicate the dynamic behavior of the target robot interacting with the environment, without dealing with a complex calculation of the contact dynamics. This method forms a basis for the task verification of a flexible space robot. The actual emulating robot is structurally rigid, while the target robot can represent any class of robots, e.g., flexible, redundant, or space robots. Although the emulating robot is not dynamically equivalent to the target robot, the dynamical similarity can be achieved by using a control law developed herein. The effect of disturbances and actuator dynamics on the fidelity and the contact stability of the robot emulation is thoroughly analyzed.
