A dual-arm collaborative flexible dragging and docking reverse operation method for an extravehicular robot

A robot and inverse operation technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to solve the problem of double-arm dragging body movement

Active Publication Date: 2022-06-03
SHANGHAI AEROSPACE CONTROL TECH INST
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Problems solved by technology

During the detonation process, the existing system intelligently assigns detonation tasks to the two manipulators, which solves the problem of collision avoidance between the arms or between the manipulators and obstacles during the movement of the manipulators, and cannot solve the problem of dragging the two arms. The problem of pulling the body to move and fitting the body to the target position smoothly

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  • A dual-arm collaborative flexible dragging and docking reverse operation method for an extravehicular robot
  • A dual-arm collaborative flexible dragging and docking reverse operation method for an extravehicular robot
  • A dual-arm collaborative flexible dragging and docking reverse operation method for an extravehicular robot

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Embodiment Construction

[0116] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0117] The present invention can be used in scenarios such as large space vehicles, space stations, lunar bases, etc. In the above scenarios, it can solve the problem of autonomous motion of the robot, and perform fine operations (such as screwing, plugging and unplugging, laser cutting) when it reaches the target position. Previously, the present invention could introduce the robot body with large inertia and mass into the target adapter in a compliant manner through an active and passive alternate control method, which could not be accomplished with conventional compliance strategies or obstacle avoidance.

[0118] The invention provides a double-arm coordinated flexible drag and docking reverse operation method for an extravehicular robot, which solves the problem that the robotic arm drags the body to the target adapter position in a...

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Abstract

The double-arm coordinated flexible dragging and docking reverse operation method of an extravehicular robot solves the problem that the mechanical arm drags the body to the target adapter position in a closed form to complete the docking operation between the body adapter and the target adapter. Passive control mode, that is, one arm is actively controlled, the other arm follows the control, and the other arm is used as the active arm control, the previous active arm becomes the passive arm, and the left and right arms are alternately controlled actively and passively. In this way, the form-shaped closure is realized. In addition to flexible dragging and docking in a force-closed state, the solution of the present invention provides a new dual-arm dragging solution for space station extravehicular robots to achieve effective docking.

Description

technical field [0001] The invention relates to an inverse operation method for cooperating flexible dragging and docking of two arms of an extravehicular robot, and belongs to the technical field of space robots. Background technique [0002] The existing dual-arm operation is generally that the arms form a closed chain, and the arms are operated with a force compliance strategy. The application scenarios are generally the dual-arm operation of the ground-fixed base, or the dual-arm capture of the target on the rail. In the process of EOD, the existing system intelligently assigns EOD tasks to the two robotic arms, which solves the problem of collision avoidance between the arms or between the arms and obstacles during the movement of the robotic arms, and cannot solve the problem of dragging the arms. The problem of pulling the body to move and flexibly assembling the body to the target position. SUMMARY OF THE INVENTION [0003] The technical problem solved by the pres...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0087B25J9/1682
Inventor 侯月阳卢山王奉文詹鹏宇尹俊雄徐文涛林新迪程浩
Owner SHANGHAI AEROSPACE CONTROL TECH INST
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