一个机器人宇航员在空间站中漂浮,以人为例的加速和减速控制
Minghui Shen1, Xiao Huang1, Yan Zhao1
1School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China; Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, 100081, China.
ISA transactions
|March 8, 2024
概括
研究人员模拟了微重力下的人类加速减速 (AD) 运动,为机器人宇航员开发了一种类似人类的控制方法. 这种方法确保了在空间站中高效,稳定和安全的机器人运动.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 太空探索 太空探索
- 生物力学 生物力学
背景情况:
- 机器人宇航员在空间站的运动是复杂的,因为微重力中的非线性动力学.
- 人类在太空中的运动,特别是通过推开表面,为机器人控制提供了一个成功的模型.
研究的目的:
- 为了在微重力中模拟人类加速减速 (AD) 运动.
- 根据人类运动原则,为机器人宇航员提出类似人类的控制策略.
主要方法:
- 在空中浮动平台上收集人类运动和接触力数据.
- 开发了一种动态引导模型,用于使用半侧面力原体进行运动规划.
- 通过同等的动态响应映射将人类运动策略映射到机器人宇航员.
主要成果:
- 发现了人类AD运动的机制,并提出了接触力原体.
- 为机器人宇航员实现精确,安全,高效和稳定的人为的AD运动.
- 在机器人接触速度和惯性参数中的错误方面证明了强度.
结论:
- 拟议的类似人类的AD控制方法使机器人宇航员能够有效和稳定地移动.
- 动态引导模型和力原体对于微重力运动规划是有效的.
- 这种方法为未来的太空机器人开发提供了宝贵的参考.
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