Design of Space Robotic Arm-Hand System and Operation Research

摘要

This paper presents a newly developed robotic Arm-Hand system, which is composed of robotic arm, dexterous hand, tele-operation system, central controller, and visual system. Using this system, a strategy of maintenance on-orbit is proposed, the position of the electrical connector is obtained though the visual system. The target position is sent from the tele-operation system to the central controller, the central controller control the robotic arm and hand to complete the maintenance task. A self-adaptive gravity compensation controller is proposed by analyzing and comparing the difference of gravity between the ground and space. The result shows the effectiveness of the strategy which proposed by this paper.