Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nut...Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.展开更多
文章提供了一种控制后尾门的方法和装置,所述装置包括遥控钥匙(RKE),车身控制系统(BCM)、后尾门控制器(PBD Power Black Door)、组合仪表(ICM)、及尾门锁电机,该装置解决了传统方式开启后尾门较为复杂、费力,不够人性化的问题,同时解决...文章提供了一种控制后尾门的方法和装置,所述装置包括遥控钥匙(RKE),车身控制系统(BCM)、后尾门控制器(PBD Power Black Door)、组合仪表(ICM)、及尾门锁电机,该装置解决了传统方式开启后尾门较为复杂、费力,不够人性化的问题,同时解决了后尾门不能单独控制的缺点。展开更多
基金supported by the National Natural Science Foundation of China(11972077,11672035)。
文摘Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.
