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A space walking robot and its ground simulator*

    *Work partially supported by China Postdoctoral Science Foundation (No. 2014M561338), National High-tech R&D Program of China (No. 2014AA041601, No. 2014BAF12B06).

    https://doi.org/10.1142/9789813145603_0102Cited by:0 (Source: Crossref)
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    Abstract:

    To validate the principle of robot walking and manipulation in the future space tasks, a 7-DOF space robotic arm (SRA), its end effecter (EE) and grapple fixture (GF) were built. Also, a ground simulator was set up to provide a microgravity condition for the robot space grasping and walking tasks. We presented a Cartesian impedance control method for the SRA based on the feedback of a 6D force/torque sensor on the EE. Experiments proved the effectiveness and safety of the space walking robot and its ground simulator.