Space dual-arm compliant capture control technology based on force/contact fusion

Robot system is the key technology for the development of space on-orbit service technology. In view of the relative movement between the manipulator and the target during the capture process, the force sensor is used to obtain the interaction force and torque information between the gripper and the docking ring, and the manipulator opens the zero force control to adjust the pose. At the same time, according to the contact force information between the gripper and the docking ring obtained by the tactile sensor, whether the dual-arm gripper is closed is judged. In this paper, the system modeling and zero force acquisition control of space manipulator are studied under the research background of space failed satellite acquisition mission. Based on the ground microgravity air flotation simulation system, the experimental results show that the space dual-arm zero force capture control system based on force/contact fusion is feasible and it has excellent performance.