Development of the Remote Control System of the Free-Flying Space Manipulation Robot with Force Feedback

摘要

The control system of a free-flying space manipulation robot with force-torque sensing is considered. As part of this work, a control circuit of the remote control system of a free-flying robot with variable delays in the data channel is proposed. The passivation method for TDPA (Time Domain Passivity Approach) communication cannel has been used to ensure the stability of the control system. The TDPA method is a flexible and convenient approach to ensure the passivity of the space manipulation robot's remote control system, but as a usage effect a drift of the position of the processing device happens. The method of compensating the drift of the executive device was applied to eliminate this drawback. To test the proposed control algorithms, a "virtual" stand was created and a simulation of a remote control system of a free-flying space manipulation robot with force-torque sensing was done under variable delays.