A low-cost microgravity simulating system for motion control study of space robot

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2013-12-01 DOI:10.1109/ROBIO.2013.6739776

Shi-long Liu, Zhihong Jiang, Hui Li, Qiang Huang

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引用次数: 2

Abstract

The simulation of space microgravity environment is indispensable during the development of space robot since its performances should be examined and enhanced before sent into space. However, the existing methods, such as air flotation method, hanging wire method and buoyancy method, etc., are very expensive and complex. A low-cost microgravity simulating system is proposed in this paper. In this system, a horizontal adjusting mechanism is proposed to keep the robot moving in a horizontal plane; a gravity compensation mechanism is proposed to compensate the force and torque of gravity during the movement; furthermore, several flexible chains and climbing rods are designed to simulate astronauts' climbing outside space station freely, but the robot is very likely to vibrate during the movement, so a new hybrid force/position controller based on the joint servo-drive characteristics model is proposed to diminish this vibration. Experiment has been done on this system with a humanoid space robot and experimental results show that this system is very suitable for motion control study of space robot in microgravity condition and the proposed hybrid force/position controller is easy and valid.

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用于空间机器人运动控制研究的低成本微重力仿真系统

空间微重力环境仿真是空间机器人研制过程中不可缺少的环节，需要对空间机器人的各项性能进行检测和提高。但是，现有的气浮法、吊丝法、浮力法等方法都是非常昂贵和复杂的。本文提出了一种低成本的微重力模拟系统。在该系统中，提出了一种水平调节机构，使机器人保持在水平面上运动;提出了一种重力补偿机构，用于补偿运动过程中的重力力和力矩;此外，设计了几种柔性链和攀爬杆来模拟宇航员在空间站外自由攀爬，但机器人在运动过程中很容易产生振动，因此提出了一种基于关节伺服驱动特性模型的力/位置混合控制器来减小这种振动。实验结果表明，该系统适用于微重力条件下空间机器人的运动控制研究，所提出的力/位置混合控制器简单有效。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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