机器人捕获漂浮目标的碰撞研究

Collision Research on the Capture Floating Goal by Robot

随着机器人应用领域的不断扩展,需要机器人能够捕获漂浮目标。由于漂浮目标在捕获过程中不可避免地会和机器人操作器发生碰撞,导致目标器发生较大的位姿偏移。对此,利用六自由度漂浮模拟装置,对捕获碰撞进行了研究,得到了机器人抓捕特定目标的规律,实现了提高捕获可靠性的目的。

With the development of robot, the robot should be having the ability to capture the floating goal. For the manipulator should impact the floating goal during the capture. And the goal moving and revolving maybe lead to false capture. So by the analysis on the collision with the 6 fod simulator ,the rules can be got and be used to improve the reliability.