Paper Title:
Cartesian Impedance Control for Space Robotic Arm Based on End Force/Torque Sensor
  Abstract

A Cartesian impedance control for a 7-DOF space robotic arm (SRA) based on the feedback from a 6-dimensional force/torque sensor on its end effecter is presented in this paper. The unavoidable position error of SRA would generate large contact forces during the connection between SRA’s end effecter (EE) and grapple fixture (GF). To control the contact force we used 6D force feedback to modify the desired trajectory controlling a PID position inner loop to make the manipulator exert desired impedance dynamic properties on its end-effecter. After optimization of impedance parameters in Simulink, this control strategy has significantly improved the force control effect in EE/GF connection experiment. Kinematic solution of the 7-DOF redundant manipulator is also provided.

  Info
Periodical
Chapter
Chapter 10: Mechatronics and Control Technology
Edited by
Huawu Liu, Yongxin Yang, Shijie Shen, Zhili Zhong, Laijiu Zheng and Peng Feng
Pages
1531-1537
DOI
10.4028/www.scientific.net/AMM.268-270.1531
Citation
X. X. Dong, G. Li, G. F. Liu, J. Zhao, "Cartesian Impedance Control for Space Robotic Arm Based on End Force/Torque Sensor", Applied Mechanics and Materials, Vols. 268-270, pp. 1531-1537, 2013
Online since
December 2012
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Price
$35.00
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