An automatic exchange device for manipulators is proposed based on multi-sensor considering the application background of the space robot in this paper. A micro-regulator is installed in the robot's wrist. Rough positioning with vision guiding, precise positioning by optical guiding, posture adjustment and active-passive hybrid compliant control strategy are used in docking. Both geometric constraint and mechanical constraint in normal docking are met during the process of automatic exchange for robot manipulator. The reliability of the work is confirmed.
展开▼
