{"title":"A Light Space Manipulator with High Load-to-Weight Ratio: System Development and Compliance Control","authors":"Zhiwei Wu, Yongting Chen, Wenfu Xu","doi":"10.34133/2021/9760520","DOIUrl":null,"url":null,"abstract":"In order to meet the requirements of the space environment for the lightweight and load capacity of the manipulator, this paper designs a lightweight space manipulator with a weight of 9.23 kg and a load of 2 kg. It adopts the EtherCAT communication protocol and has the characteristics of high load-to-weight ratio. In order to achieve constant force tracking under the condition of unknown environmental parameters, an integral adaptive admittance control method is proposed. The control law is expressed as a third-order linear system equation, the operating environment is equivalent to a spring model, and the control error transfer function is derived. The control performance under the step response is further analyzed. The simulation results show that the proposed integral adaptive admittance control method has better performance than the traditional method. It has no steady-state error, overcomes the problems caused by nonlinear discrete compensation, and can facilitate analysis in the frequency domain, realize parameter optimization, and improve calculation accuracy.","PeriodicalId":44234,"journal":{"name":"中国空间科学技术","volume":"39 1","pages":""},"PeriodicalIF":0.5000,"publicationDate":"2021-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"中国空间科学技术","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.34133/2021/9760520","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}
引用次数: 7
Abstract
In order to meet the requirements of the space environment for the lightweight and load capacity of the manipulator, this paper designs a lightweight space manipulator with a weight of 9.23 kg and a load of 2 kg. It adopts the EtherCAT communication protocol and has the characteristics of high load-to-weight ratio. In order to achieve constant force tracking under the condition of unknown environmental parameters, an integral adaptive admittance control method is proposed. The control law is expressed as a third-order linear system equation, the operating environment is equivalent to a spring model, and the control error transfer function is derived. The control performance under the step response is further analyzed. The simulation results show that the proposed integral adaptive admittance control method has better performance than the traditional method. It has no steady-state error, overcomes the problems caused by nonlinear discrete compensation, and can facilitate analysis in the frequency domain, realize parameter optimization, and improve calculation accuracy.
期刊介绍：
"China Space Science and Technology" is sponsored by the China Academy of Space Technology. It is an academic and technical journal that comprehensively and systematically reflects China's spacecraft engineering technology. The purpose of this journal is to "exchange scientific research results, explore cutting-edge technologies, activate academic research, promote talent growth, and serve the space industry", and strive to make "China Space Science and Technology" a first-class academic and technical journal in China.
This journal follows the principle of "let a hundred flowers bloom and a hundred schools of thought contend", promotes academic democracy, and actively carries out academic discussions, making this journal an important platform for Chinese space science and technology personnel to publish research results, conduct academic exchanges, and explore cutting-edge technologies; it has become an important window for promoting and displaying China's academic achievements in space technology.
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