Research on the Automatic Exchange Technology for Space Robot Manipulators

摘要

An automatic exchange device for manipulators isproposed based on multi-sensor considering the applicationbackground of the space robot in this paper. Amicro-regulator is installed in the robot's wrist. Roughpositioning with vision guiding, precise positioning byoptical guiding, posture adjustment and active-passivehybrid compliant control strategy are used in docking. Bothgeometric constraint and mechanical constraint in normaldocking are met during the process of automatic exchangefor robot manipulator. The reliability of the work isconfirmed.