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The traditional six-dimensional force/torque sensor calibration method requires a lot of precision loading force and can only be off-line calibration. In this paper, to solve the problem, an online calibration and decoupling method based on the shape from motion combined with complex algorithm is proposed. It does not require accurate and redundant loading force information, and have better noise...
For bell-shaped vibratory angular rate gyro has manufacturing errors and the model parameters is easily affected by environment, the existing controller loop can't remove the influence, so the angular rate can't be exactly estimated. This paper proposes a method of the adaptive sliding mode controller to calculate angular rate. By analyzing the bell-shaped vibratory angular rate gyro's dynamics equations,...
Surface Sample Acquisition and Caching Device (SSACD) is an underway equipment which is designed for the upcoming Chinese Lunar Exploration Stage III: lunar sample return. Considering the characteristics of lunar environment and soil, the scoop of SSACD is a bionic design which would have lower digging resistance and higher efficiency. The unlocking mechanism is driven by motor and wire rope directly...
Anchoring technology is necessary for the lander to land on the asteroid. Four types of anchoring modes and their characteristics are discussed, and then an anchoring system is introduced. Some key factors related to the performance of the anchoring system are presented. These factors include characteristics of the asteroid, penetrating energy and shape of the anchor tip. Penetrating energy and shape...
This paper presents a method for object shape recognition and the real-time grasping of unknown plane objects only using the positions information of robotic hand fingers. We aim to recover the shape, position and orientation of the grasped object by random five grasping points and the vision system in Cartesian space. A highly intelligent information fusion model which is combined with the expert...
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